We address a variant of multi-agent path finding in continuous environment (CE-MAPF), where agents move along sets of smooth curves. Collisions between agents are resolved via avoidance in the space domain. A new Continuous Environment Conflict-Based Search (CE-CBS) algorithm is proposed in this work. CE-CBS combines conflict-based search (CBS) for the high-level search framework with RRT* for low-level path planning. The CE-CBS algorithm is tested under various settings on diverse CE-MAPF instances. Experimental results show that CE-CBS is competitive w.r.t. to other algorithms that consider continuous aspect in MAPF such as MAPF with continuous time.

翻译：本文研究连续环境中的多智能体路径规划问题的一个变体（CE-MAPF），其中智能体沿一组平滑曲线移动。智能体之间的碰撞通过在空间域中进行避障来解决。本文提出了一种新的连续环境基于冲突的搜索算法（CE-CBS）。CE-CBS将用于高层搜索框架的基于冲突的搜索（CBS）与用于低层路径规划的RRT*算法相结合。我们在多种CE-MAPF实例的不同设置下测试了CE-CBS算法。实验结果表明，相较于其他考虑MAPF中连续特性的算法（如连续时间MAPF），CE-CBS具有竞争力。