Mon, Dec 05, 2022 @ 03:30 PM - 04:30 PM
Thomas Lord Department of Computer Science
PhD Candidate: Jingyao Ren
Committee: Sven Koenig, Gaurav Sukhatme, Stefanos Nikolaidis, Feifei Qian(ECE Department), Nora Ayanian(Brown University)
Title: Algorithm Selection and Empirical Hardness of Multi Agent Pathfinding Problems
Solving the Multi-Agent Path Finding (MAPF) problem optimally is known to be NP-Hard for both make-span and total arrival time minimization. While many algorithms have been developed to solve MAPF problems, there is no dominating optimal MAPF algorithm that works well in all types of problems and no standard guidelines for when to use which algorithm.
In this work, we develop the deep convolutional network MAPFAST (Multi-Agent Path Finding Algorithm SelecTor), which takes a MAPF problem instance and attempts to select the fastest algorithm to use from a portfolio of algorithms. We improve the performance of our model by including single-agent shortest paths in the instance embedding given to our model and by utilizing supplemental loss functions in addition to a classification loss. We evaluate our model on a large and diverse dataset of MAPF instances, showing that it outperforms all individual algorithms in its portfolio as well as the state-of-the-art optimal MAPF algorithm selector. We also provide an analysis of algorithm behavior in our dataset to gain a deeper understanding of optimal MAPF algorithms\' strengths and weaknesses to help other researchers leverage different heuristics in algorithm designs. Several ongoing projects are also proposed affiliated with detailed analysis such as using more advanced MAPF instance encoding techniques, Graph Neural Network based approach and utilizing the empirical hardness of MAPF to boost the performance of algorithm selectors.
This proposal will be hosted virtually. Zoom link: https://usc.zoom.us/j/6164522905
WebCast Link: https://usc.zoom.us/j/6164522905
Audiences: Everyone Is Invited
Contact: Lizsl De Leon