Related papers: Modifying Optimal SAT-based Approach to Multi-agen…
The Multi-Objective Multi-Agent Path Finding (MO-MAPF) problem is the problem of finding the Pareto-optimal frontier of collision-free paths for a team of agents while minimizing multiple cost metrics. Examples of such cost metrics include…
Multi-Agent Path Finding (MAPF), i.e., finding collision-free paths for multiple robots, is important for many applications where small runtimes are necessary, including the kind of automated warehouses operated by Amazon. CBS is a leading…
The Multi-Agent Pathfinding (MAPF) problem involves finding a set of conflict-free paths for a group of agents confined to a graph. In typical MAPF scenarios, the graph and the agents' starting and ending vertices are known beforehand,…
We present a novel framework for addressing the challenges of multi-Agent planning and formation control within intricate and dynamic environments. This framework transforms the Multi-Agent Path Finding (MAPF) problem into a Multi-Agent…
This paper investigates Multi-Agent Path Finding Among Movable Obstacles (M-PAMO), which seeks collision-free paths for multiple agents from their start to goal locations among static and movable obstacles. M-PAMO arises in logistics and…
Multi-Agent Path Finding (MAPF) poses a significant and challenging problem critical for applications in robotics and logistics, particularly due to its combinatorial complexity and the partial observability inherent in realistic…
Multi-agent path finding (MAPF) is a well-studied problem in artificial intelligence, where one needs to find collision-free paths for agents with given start and goal locations. In video games, agents of different types often form teams.…
In multi-agent applications such as surveillance and logistics, fleets of mobile agents are often expected to coordinate and safely visit a large number of goal locations as efficiently as possible. The multi-agent planning problem in these…
In this paper, we consider a novel variant of the multi-armed bandit (MAB) problem, MAB with cost subsidy, which models many real-life applications where the learning agent has to pay to select an arm and is concerned about optimizing…
We explore the use of Artificial Potential Fields (APFs) to solve Multi-Agent Path Finding (MAPF) and Lifelong MAPF (LMAPF) problems. In MAPF, a team of agents must move to their goal locations without collisions, whereas in LMAPF, new…
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…
Multi-agent path finding (MAPF) involves planning efficient paths for multiple agents to move simultaneously while avoiding collisions. In typical warehouse environments, agents are often sparsely distributed along aisles; however,…
In this work we consider the multi-agent motion planning (MAMP) problem with the constraint that agents arrive at their respective goals at the same time. For the special case where all agents are initially at rest we propose a two-step…
We propose an extension to the MAPF formulation, called SocialMAPF, to account for private incentives of agents in constrained environments such as doorways, narrow hallways, and corridor intersections. SocialMAPF is able to, for instance,…
Maximum Satisfiability (MaxSAT) is a well-known optimization pro- blem, with several practical applications. The most widely known MAXS AT algorithms are ineffective at solving hard problems instances from practical application domains.…
The Maximum Satisfiability (MaxSAT) problem is the problem of finding a truth assignment that maximizes the number of satisfied clauses of a given Boolean formula in Conjunctive Normal Form (CNF). Many exact solvers for MaxSAT have been…
The primary objective of Multi-Agent Pathfinding (MAPF) is to plan efficient and conflict-free paths for all agents. Traditional multi-agent path planning algorithms struggle to achieve efficient distributed path planning for multiple…
The problem of Multi-agent Path Finding (MAPF) consists in providing agents with efficient paths while preventing collisions. Numerous solvers have been developed so far since MAPF is critical for practical applications such as automated…
We introduce a simple yet effective sampling-based planner that is tailored for bottleneck pathfinding: Given an implicitly-defined cost map $\mathcal{M}:\mathbb{R}^d\rightarrow \mathbb{R}$, which assigns to every point in space a real…
This study informs the design of future multi-agent pathfinding (MAPF) and multi-robot motion planning (MRMP) algorithms by guiding choices based on constraint classification for constraint-based search algorithms. We categorize constraints…