Related papers: Any-Angle Pathfinding for Multiple Agents Based on…

In the Multi-Agent Path Finding (MAPF) problem, a set of agents moving on a graph must reach their own respective destinations without inter-agent collisions. In practical MAPF applications such as navigation in automated warehouses, where…

In structured multi-agent transportation systems, agents often must follow predefined routes, making spatial rerouting undesirable or impossible. This paper addresses route-constrained multi-agent coordination by optimizing waypoint passage…

In this paper we study a challenging variant of the multi-agent pathfinding problem (MAPF), when a set of agents must reach a set of goal locations, but it does not matter which agent reaches a specific goal - Anonymous MAPF (AMAPF).…

Coordinating agents through hazardous environments, such as aid-delivering drones navigating conflict zones or field robots traversing deployment areas filled with obstacles, poses fundamental planning challenges. We introduce and analyze…

We propose a distributed planning method with asynchronous execution for multi-agent pickup and delivery (MAPD) problems for environments with occasional delays in agents' activities and flexible endpoints. MAPD is a crucial problem…

Multi-Agent Path Finding (MAPF) has been widely studied in recent years. However, most existing MAPF algorithms assume that an agent occupies only a single grid in a grid-based map. This assumption limits their applicability in many…

In this article, we consider a multi-agent path planning problem in a partially impeded environment. The impeded environment is represented by a graph with select road segments (edges) in disrepair impeding vehicular movement in the road…

We study a novel graph path planning problem for multiple agents that may crash at runtime, and block part of the workspace. In our setting, agents can detect neighboring crashed agents, and change followed paths at runtime. The objective…

Executing a multi-agent plan can be challenging when an agent is delayed, because this typically creates conflicts with other agents. So, we need to quickly find a new safe plan. Replanning only the delayed agent often does not yield an…

Consider the scenario where multiple agents have to move in an optimal way through a network, each one towards their ending position while avoiding collisions. By optimal, we mean as fast as possible, which is evaluated by a measure known…

Path planning in the multi-robot system refers to calculating a set of actions for each robot, which will move each robot to its goal without conflicting with other robots. Lately, the research topic has received significant attention for…

In multi-agent path finding (MAPF) the task is to navigate agents from their starting positions to given individual goals. The problem takes place in an undirected graph whose vertices represent positions and edges define the topology.…

Multi-agent motion planning (MAMP) is an important problem for autonomous systems with multiple agents. In this work we propose a two-step method for finding optimized and kinematically feasible solutions to MAMP problems. The first step…

Multi-Agent Combinatorial Path Finding (MCPF) seeks collision-free paths for multiple agents from their initial locations to destinations, visiting a set of intermediate target locations in the middle of the paths, while minimizing the sum…

In this work, we study the problem where a group of mobile agents needs to reach a set of goal locations, but it does not matter which agent reaches a specific goal. Unlike most of the existing works on this topic that typically assume the…

Multi-agent path planning is a challenging problem with numerous real-life applications. Running a centralized search such as A* in the combined state space of all units is complete and cost-optimal, but scales poorly, as the state space…

Multi-Agent Path Finding (MAPF) seeks collision-free paths for multiple agents from their respective start locations to their respective goal locations while minimizing path costs. Most existing MAPF algorithms rely on a common assumption…

The Mutliagent Path Finding (MAPF) problem consists of identifying the trajectories that a set of agents should follow inside a given network in order to reach their desired destinations as soon as possible, but without colliding with each…

We study a variant of the multi-agent path finding problem (MAPF) in which agents are required to remain connected to each other and to a designated base. This problem has applications in search and rescue missions where the entire…

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.…