Team Coordination on Graphs with State-Dependent Edge Costs

Manshi Limbu,Zechen Hu,Sara Oughourli,Xuan Wang,Xuesu Xiao,Daigo Shishika,Manshi Limbu,Zechen Hu,Sara Oughourli,Xuan Wang,Xuesu Xiao,Daigo Shishika

This paper studies a team coordination problem in a graph environment. Specifically, we incorporate “support” action which an agent can take to reduce the cost for its teammate to traverse some high cost edges. Due to this added feature, the graph traversal is no longer a standard multi-agent path planning problem. To solve this new problem, we propose a novel formulation that poses it as a planni...