{"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00234869","sets":["1164:5352:11553:11625"]},"path":["11625"],"owner":"44499","recid":"234869","title":["高密度環境におけるマルチエージェント経路計画問題"],"pubdate":{"attribute_name":"公開日","attribute_value":"2024-06-13"},"_buckets":{"deposit":"40ba89aa-db74-44bb-b295-2a55a03d2b51"},"_deposit":{"id":"234869","pid":{"type":"depid","value":"234869","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"高密度環境におけるマルチエージェント経路計画問題","author_link":["640823","640824"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"高密度環境におけるマルチエージェント経路計画問題"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"数理モデル化と問題解決1","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2024-06-13","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"株式会社豊田中央研究所"},{"subitem_text_value":"株式会社豊田中央研究所"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Toyota Central R&D Labs., Inc.","subitem_text_language":"en"},{"subitem_text_value":"Toyota Central R&D Labs., Inc.","subitem_text_language":"en"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_publisher":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会","subitem_publisher_language":"ja"}]},"publish_status":"0","weko_shared_id":-1,"item_file_price":{"attribute_name":"Billing file","attribute_type":"file","attribute_value_mlt":[{"url":{"url":"https://ipsj.ixsq.nii.ac.jp/record/234869/files/IPSJ-BIO24078042.pdf","label":"IPSJ-BIO24078042.pdf"},"date":[{"dateType":"Available","dateValue":"2026-06-13"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-BIO24078042.pdf","filesize":[{"value":"2.1 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"660","billingrole":"5"},{"tax":["include_tax"],"price":"330","billingrole":"6"},{"tax":["include_tax"],"price":"0","billingrole":"41"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"bac0492c-4816-4b15-bf35-54708966a8aa","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2024 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"牧野, 寛也"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"伊藤, 誠悟"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA12055912","subitem_source_identifier_type":"NCID"}]},"item_4_textarea_12":{"attribute_name":"Notice","attribute_value_mlt":[{"subitem_textarea_value":"SIG Technical Reports are nonrefereed and hence may later appear in any journals, conferences, symposia, etc."}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_18gh","resourcetype":"technical report"}]},"item_4_source_id_11":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"2188-8590","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"マルチエージェント経路計画問題 (Multi-Agent Path Finding，MAPF) は，複数のエージェントが同時に移動する際に，衝突を避けつつ効率的な経路を計画する問題である．従来の MAPF が想定する環境では，明示的な通路や退避場所を必要としており，スペース効率が悪かった．本論文では，高密度環境におけるマルチエージェント経路計画問題 (Multi-Agent Path Finding in High-Density Environments，MAPF-H) を定義する．エージェントが高密度に存在する類似の問題設定に対して，整数計画法を用いた手法が提案されている．しかし，全てのエージェントの経路を一度に最適化するため，小規模な環境でも数十秒～数百秒程度の計算時間を必要とし，大規模な環境では実用的な時間内での計算が困難であった．提案手法では，ヒューリスティック手法を用いて段階的にエージェントを再配置することにより，大規模な環境でも数秒～数十秒程度の計算時間で MAPF-H を解くことが可能である．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"6","bibliographic_titles":[{"bibliographic_title":"研究報告バイオ情報学（BIO）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2024-06-13","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"42","bibliographicVolumeNumber":"2024-BIO-78"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":234869,"updated":"2025-01-19T09:41:13.594987+00:00","links":{},"created":"2025-01-19T01:36:44.304603+00:00"}