通过多边缘最优传输与薛定谔桥实现最优且可扩展的多智能体路径规划 / Optimal and Scalable MAPF via Multi-Marginal Optimal Transport and Schrödinger Bridges
1️⃣ 一句话总结
本文提出将匿名多智能体路径规划问题转化为多边缘最优传输问题,利用其马尔可夫结构将指数级复杂度降为多项式级线性规划,并通过薛定谔桥的熵正则化方法进一步扩展到大规模场景,在保证接近最优解的同时显著降低计算成本。
We consider anonymous multi-agent path finding (MAPF) where a set of robots is tasked to travel to a set of targets on a finite, connected graph. We show that MAPF can be cast as a special class of multi-marginal optimal transport (MMOT) problems with an underlying Markovian structure, under which the exponentially large MMOT collapses to a linear program (LP) polynomial in size. Focusing on the anonymous setting, we establish conditions under which the corresponding LP is feasible, totally unimodular, and consequently, yields min-cost, integral $(\{0,1\})$ transports that do not overlap in both space and time. To adapt the approach to large-scale problems, we cast the MAPF-MMOT in a probabilistic framework via Schrödinger bridges. Under standard assumptions, we show that the Schrödinger bridge formulation reduces to an entropic regularization of the corresponding MMOT that admits an iterative Sinkhorn-type solution. The Schrödinger bridge, being a probabilistic framework, provides a shadow (fractional) transport that we use as a template to solve a reduced LP and demonstrate that it results in near-optimal, integral transports at a significant reduction in complexity. Extensive experiments highlight the optimality and scalability of the proposed approaches.
通过多边缘最优传输与薛定谔桥实现最优且可扩展的多智能体路径规划 / Optimal and Scalable MAPF via Multi-Marginal Optimal Transport and Schrödinger Bridges
本文提出将匿名多智能体路径规划问题转化为多边缘最优传输问题,利用其马尔可夫结构将指数级复杂度降为多项式级线性规划,并通过薛定谔桥的熵正则化方法进一步扩展到大规模场景,在保证接近最优解的同时显著降低计算成本。
源自 arXiv: 2605.10917