Related papers: Multi-agent Path Planning and Network Flow
The multi-agent path finding (MAPF) problem asks to find a set of paths on a graph such that when synchronously following these paths the agents never encounter a conflict. In the most widespread MAPF formulation, the so-called Classical…
We present a scalable and effective multi-agent safe motion planner that enables a group of agents to move to their desired locations while avoiding collisions with obstacles and other agents, with the presence of rich obstacles,…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
We address the problem of planning collision-free paths for multiple agents using optimization methods known as proximal algorithms. Recently this approach was explored in Bento et al. 2013, which demonstrated its ease of parallelization…
This paper studies a combinatorial optimization problem which is obtained by combining the flow shop scheduling problem and the shortest path problem. The objective of the obtained problem is to select a subset of jobs that constitutes a…
Graph-theoretic tools and techniques have seen wide use in the multi-agent systems literature, and the unpredictable nature of some multi-agent communications has been successfully modeled using random communication graphs. Across both…
Increasing interest in integrating advanced robotics within manufacturing has spurred a renewed concentration in developing real-time scheduling solutions to coordinate human-robot collaboration in this environment. Traditionally, the…
We study the computational complexity of multi-agent path finding (MAPF). Given a graph $G$ and a set of agents, each having a start and target vertex, the goal is to find collision-free paths minimizing the total distance traveled. To…
We study the problem of multi-agent online graph exploration, in which a team of k agents has to explore a given graph, starting and ending on the same node. The graph is initially unknown. Whenever a node is visited by an agent, its…
This paper solves a path planning problem for a group of gliders. The gliders are tasked with visiting a set of interest points. The gliders have limited range but are able to increase their range by visiting special points called thermals.…
This paper proposes a novel planning framework to handle a multi-agent pathfinding problem under team-connected communication constraint, where all agents must have a connected communication channel to the rest of the team during their…
We present a combinatorial algorithm for computing exact maximum flows in directed graphs with $n$ vertices and edge capacities from $\{1,\dots,U\}$ in $n^{2+o(1)}\log U$ time, which is almost optimal in dense graphs. Our algorithm is a…
Allocation and planning with a collection of tasks and a group of agents is an important problem in multiagent systems. One commonly faced bottleneck is scalability, as in general the multiagent model increases exponentially in size with…
Schematic maps are in daily use to show the connectivity of subway systems and to facilitate travellers to plan their journeys effectively. This study surveys up-to-date algorithmic approaches in order to give an overview of the state of…
By starting with the assumption that motion is fundamentally a decision making problem, we use the world-line concept from Special Relativity as the inspiration for a novel multi-agent path planning method. We have identified a particular…
Min-max problems are important in multi-agent sequential decision-making because they improve the performance of the worst-performing agent in the network. However, solving the multi-agent min-max problem is challenging. We propose a…
Multi-agent Path Finding (MAPF) is the problem of planning collision-free movements of agents so that they get from where they are to where they need to be. Commonly, agents are located on a graph and can traverse edges. This problem has…
We study two stylized, multi-agent models aimed at investing a limited, indivisible resource in public transportation. In the first model, we face the decision of which potential stops to open along a (e.g., bus) path, given agents' travel…
In this paper we show an O(n^(3/2) log^2 n) time algorithm for finding a maximum flow in a planar graph with multiple sources and multiple sinks. This is the fastest algorithm whose running time depends only on the number of vertices in the…
Urban intersections are prone to delays and inefficiencies due to static precedence rules and occlusions limiting the view on prioritized traffic. Existing approaches to improve traffic flow, widely known as automatic intersection…