DEC-A*: A Decentralized Multiagent Pathfinding Algorithm

Abstract

A* is the algorithm of finding the shortest path between two nodes in a graph. When the searching problem is constituted of a set of linked graphs, A* searches solution like if it is face of one graph formed by linked graphs. While researchers have developed solutions to reduce the execution time of A* in multiple cases by multiples techniques, we develop a new algorithm: DEC-A* which is a decentralized version of A* composing a solution through a collection of graph. A* uses a distance-plus-cost heuristic function to determine the order in which the search visits nodes in the tree. Our algorithm DEC-A* extends the evaluation of the distance-plus-cost heuristic to be the sum of two functions : local distance, which evaluates the cost to reach the nearest neighbor node s to the goal, and global distance which evaluates the cost from s to the goal through other graphs. DEC-A* reduces the time of finding the shortest path and reduces the complexity, while ensuring the privacy of graphs.

A optimization of A* algorithm to make it close to human pathfinding behavior

“…We refer to the experimental analysis section of DEC -A * [7] . we compare two measures between A* algorithmand optimized A* algorithm.One is runtime ,another one is total times of accessing nodes in grid map.…”

Smart Routing: A Novel Application of Collaborative Path-Finding to Smart Parking Systems

“…It has been noted that, in the non-collaborative case, multiagent path planning is suitable for general purpose GPU computing due to the independently parallel nature of the calculations [16]. Significant efforts have been made to reduce the complexity of A-star for multiple agents through subdivision of the search space [12], [13], demonstrating performance gains over the traditional case. Many algorithmic approaches balance computability against absolute optimality [14], [15].…”