@inproceedings{01be8b6c8c42466fbb122c2144e9ac20,
title = "A Decentralized Token-Based Negotiation Approach for Multi-Agent Path Finding",
abstract = "This paper introduces a negotiation approach to solve the Multi-Agent Path Finding problem. The approach aims to achieve a good trade-off between the privacy of the agents and the effectiveness of solutions. Accordingly, a token-based bilateral negotiation protocol and a compatible negotiation strategy are presented. The proposed approach is evaluated in a variety of scenarios by comparing it with state-of-the-art centralized approaches such as Conflict Based Search and its variant. The experimental results showed that the proposed approach can find conflict-free path solutions with a higher success rate, especially when the search space is large and high-density compared to centralized approaches while the gap between path cost differences is reasonably low. The proposed approach enables agents to have their autonomy; thus, it is convenient for MAPF problems involving self-interested agents.",
keywords = "Decentralized coordination, Multi-Agent Path Finding, Negotiation, Self-interested agents",
author = "Cihan Eran and Keskin, {M. Onur} and Furkan Cant{\"u}rk and Reyhan Aydoğan",
year = "2021",
doi = "10.1007/978-3-030-82254-5_16",
language = "English",
isbn = "9783030822538",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer",
pages = "264--280",
editor = "Ariel Rosenfeld and Nimrod Talmon",
booktitle = "Multi-Agent Systems - 18th European Conference, EUMAS 2021, Revised Selected Papers",
note = "18th European Conference on Multi-Agent Systems, EUMAS 2021 ; Conference date: 28-06-2021 Through 29-06-2021",
}