Multi-agent path planning and network flow

Jingjin Yu, Steven M. Lavalle

Research output: Chapter in Book/Report/Conference proceedingConference contribution

116 Scopus citations


This paper connects multi-agent path planning on graphs (roadmaps) to network flow problems, showing that the former can be reduced to the latter, therefore enabling the application of combinatorial network flow algorithms, as well as general linear program techniques, tomulti-agent path planning problems on graphs. Exploiting this connection, we show that when the goals are permutation invariant, the problem always has a feasible solution path set with a longest finish time of no more than n+V −1 steps, in which n is the number of agents and V is the number of vertices of the underlying graph.We then give a complete algorithm that finds such a solution in O(nVE) time, with E being the number of edges of the graph. Taking a further step, we study time and distance optimality of the feasible solutions, show that they have a pairwise Pareto optimal structure, and again provide efficient algorithms for optimizing two of these practical objectives.

Original languageEnglish (US)
Title of host publicationSpringer Tracts in Advanced Robotics
EditorsEmilio Frazzoli, Nicholas Roy, Tomas Lozano-Perez, Daniela Rus
PublisherSpringer Verlag
Number of pages17
ISBN (Print)9783642362781
StatePublished - 2013
Externally publishedYes
Event10th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2012 - Cambridge, United States
Duration: Jun 13 2012Jun 15 2012

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


Other10th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2012
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Artificial Intelligence


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