Multi-Agent Path Finding under Limited Communication Range Constraint via Dynamic Leading

Abstract-- This paper proposes a novel framework to handle a multi-agent path finding problem under a limited communication range constraint, where all agents must have a connected communication channel to the rest of the team. Many existing approaches to multi-agent path finding (e.g., leader-follower platooning) overcome computational challenges of planning in this domain by planning one agent at a time in a fixed order. However, fixed leader-follower approaches can become stuck during planning, limiting their practical utility in dense-clutter environments. Our framework, MA-DL, can handle both (c). 's leading causes the team to get stuck (a), dynamic When the leader and follower move to different directions (b), followers are allowed to pursue another agent to its goal. We want a team of agents navigate through an obstaclerich environment to goals while maintaining constant team who plan so as to maintain communication to the agent that communication: a spanning tree created from range-limited planned before them.