Applying C3LRTA*, a color code coordinated LRTA* algorithm on mazes and labyrinths

Muaz Niazi*, Umar Manzoor, Kiran Ijaz

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


Multi Agent is regarded as a promising paradigm for future distributed computing. Multi Agent Learning Real Time A* (MALRTA*) is a multi-agent version of Learning Real Time A* (LRTA*) algorithm where multiple agents concurrently and autonomously search to find a solution. In this paper, we propose C3LRTA* algorithm which uses color code for coordination among multiple problem solvers. Each agent observes the color code of the state and select the next move on the basis of this color, in contrast it simply moves randomly in the original MALRTA*. We have applied C3LRTA* to solve randomly generated mazes and labyrinth. Observed results suggests that by using the proposed coordination scheme, we get an improvement in LRTA*. We have evaluated this coordination scheme on a large number of labyrinth and mazes with random obstacles and varying obstacle ratio. Through simulation experiments, we have shown that C3LRTA* is effective in both search time and solution quality in both mazes and labyrinths. In addition, the strategy used in C3LRTA* can be made more efficient if the number of agents and/or obstacle ratio is increased.

Original languageEnglish
Pages (from-to)1802-1807
Number of pages6
JournalWSEAS Transactions on Computers
Issue number12
Publication statusPublished - 1 Dec 2005


  • A*
  • Agents
  • Color code
  • Coordination
  • LRTA*
  • Multi-agent
  • Online search


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