Related papers: Collaborative search on the plane without communic…
Treasure hunt is the task of finding an inert target by a mobile agent in an unknown environment. We consider treasure hunt in geometric terrains with obstacles. Both the terrain and the obstacles are modeled as polygons and both the agent…
We study a location-routing problem in the context of capacitated vehicle routing. The input is a set of demand locations in a metric space and a fleet of k vehicles each of capacity Q. The objective is to locate k depots, one for each…
Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve…
We study the federated pure exploration problem of multi-armed bandits and linear bandits, where $M$ agents cooperatively identify the best arm via communicating with the central server. To enhance the robustness against latency and…
An Optimal Transport (OT)-based decentralized collaborative multi-robot exploration strategy is proposed in this paper. This method is to achieve an efficient exploration with a predefined priority in the given domain. In this context, the…
The problem of near-optimal distributed path planning to locally sensed targets is investigated in the context of large swarms. The proposed algorithm uses only information that can be locally queried, and rigorous theoretical results on…
Active search refers to the problem of efficiently locating targets in an unknown environment by actively making data-collection decisions, and has many applications including detecting gas leaks, radiation sources or human survivors of…
We formalize AI alignment as a multi-objective optimization problem called $\langle M,N,\varepsilon,\delta\rangle$-agreement, in which a set of $N$ agents (including humans) must reach approximate ($\varepsilon$) agreement across $M$…
A mobile agent has to find an inert target in some environment that can be a graph or a terrain in the plane. This task is known as treasure hunt. We consider deterministic algorithms for treasure hunt in trees. Our goal is to establish the…
Best arm identification (or, pure exploration) in multi-armed bandits is a fundamental problem in machine learning. In this paper we study the distributed version of this problem where we have multiple agents, and they want to learn the…
Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challenge, we propose a collaborative exploration framework for a…
We study the problem of stochastic bandits with adversarial corruptions in the cooperative multi-agent setting, where $V$ agents interact with a common $K$-armed bandit problem, and each pair of agents can communicate with each other to…
Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited inter-agent communication and static and dynamic obstacles.…
Distributed agents in real-world settings frequently must coordinate under uncertainty with only partial observations. Coordination is necessary to share beliefs to aid in task completion, but communication costs bandwidth, introduces…
This paper presents a swarm teaming perspective that enhances the scope of classic investigations on survivable networks. A target searching generic context is considered as test-bed, in which a swarm of ground agents and a swarm of UAVs…
We consider the problem of finding a treasure at an unknown point of an $n$-dimensional infinite grid, $n\geq 3$, by initially collocated finite state agents (scouts/robots). Recently, the problem has been well characterized for 2…
We consider the problem of searching for rays (or lines) in the half-plane. The given problem turns out to be a very natural extension of the cow-path problem that is lifted into the half-plane and the problem can also directly be motivated…
Consider two robots that start at the origin of the infinite line in search of an exit at an unknown location on the line. The robots can only communicate if they arrive at the same location at exactly the same time, i.e. they use the…
We introduce the Cooperative Multi-Agent Path Finding (Co-MAPF) problem, an extension to the classical MAPF problem, where cooperative behavior is incorporated. In this setting, a group of autonomous agents operate in a shared environment…
We consider the problem of evacuating $k \geq 2$ mobile agents from a unit-sided equilateral triangle through an exit located at an unknown location on the perimeter of the triangle. The agents are initially located at the centroid of the…