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Multi-agent Infrastructure Assisting Navigation for First Responders

Navigating multiple first responders to multiple destinations avoiding moving obstacles poses a set of challenges for navigation researchers. When first responders are performing their tasks, new data about the moving obstacles and new tasks might arrive, which create needs for re-planning of routes and re-allocation of tasks. To be able to do so, they need a path planner that is capable of processing large volumes of spatio-temporal data from different resources, and able to generate routes as quickly as possible. In this paper, we propose a multi-agent infrastructure for navigating multiple responders to multiple locations avoiding moving obstacles. To our knowledge, this type of navigation has not yet been addressed in the literature. We design and develop a set of software agents according to their roles in emergency response, which assists emergency actors in data collection, data processing, route generation, and task allocation. We also use an auction-based approach to allow the agent system to allocate different target locations to the responders. We apply our system to a real road network and show some preliminary results.