Related papers: Finding Optimal Solutions to Token Swapping by Con…
We address item relocation problems in graphs in this paper. We assume items placed in vertices of an undirected graph with at most one item per vertex. Items can be moved across edges while various constraints depending on the type of…
The input to the token swapping problem is a graph with vertices $v_1, v_2, \ldots, v_n$, and $n$ tokens with labels $1, 2, \ldots, n$, one on each vertex. The goal is to get token $i$ to vertex $v_i$ for all $i= 1, \ldots, n$ using a…
Given a graph where every vertex has exactly one labeled token, how can we most quickly execute a given permutation on the tokens? In (sequential) token swapping, the goal is to use the shortest possible sequence of swaps, each of which…
In this paper we study a combinatorial reconfiguration problem that involves finding an optimal sequence of swaps to move an initial configuration of tokens that are placed on the vertices of a graph to a final desired one. This problem…
In the Token Swapping problem we are given a graph with a token placed on each vertex. Each token has exactly one destination vertex, and we try to move all the tokens to their destinations, using the minimum number of swaps, i.e.,…
In multi-agent path finding (MAPF) the task is to find non-conflicting paths for multiple agents. In this paper we focus on finding suboptimal solutions for MAPF for the sum-of-costs variant. Recently, a SAT-based approached was developed…
Real-time planning for a combined problem of target assignment and path planning for multiple agents, also known as the unlabeled version of Multi-Agent Path Finding (MAPF), is crucial for high-level coordination in multi-agent systems,…
Multi-agent pathfinding (MAPF) is the problem of finding a set of conflict-free paths for a set of agents. Typically, the agents' moves are limited to a pre-defined graph of possible locations and allowed transitions between them, e.g. a…
Given a graph $G=(V,E)$ with $V=\{1,\ldots,n\}$, we place on every vertex a token $T_1,\ldots,T_n$. A swap is an exchange of tokens on adjacent vertices. We consider the algorithmic question of finding a shortest sequence of swaps such that…
The problems of Permutation Routing via Matching and Token Swapping are reconfiguration problems on graphs. This paper is concerned with the complexity of those problems and a colored variant. For a given graph where each vertex has a…
We study the weighted token swapping problem, in which we are given a graph on $n$ vertices, $n$ weighted tokens, an initial assignment of one token to each vertex, and a final assignment of one token to each vertex. The goal is to find a…
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).…
We investigate the computational complexity of the following problem. We are given a graph in which each vertex has an initial and a target color. Each pair of adjacent vertices can swap their current colors. Our goal is to perform the…
As industries increasingly adopt large robotic fleets, there is a pressing need for computationally efficient, practical, and optimal conflict-free path planning for multiple robots. Conflict-Based Search (CBS) is a popular method for…
Multi-agent path finding (MAPF) is the problem of finding paths for multiple agents such that they do not collide. This problem manifests in numerous real-world applications such as controlling transportation robots in automated warehouses,…
This paper addresses a variant of multi-agent path finding (MAPF) in continuous space and time. We present a new solving approach based on satisfiability modulo theories (SMT) to obtain makespan optimal solutions. The standard MAPF is a…
We study the following variant of the 15 puzzle. Given a graph and two token placements on the vertices, we want to find a walk of the minimum length (if any exists) such that the sequence of token swappings along the walk obtains one of…
We study the token swapping problem, in which we are given a graph with an initial assignment of one distinct token to each vertex, and a final desired assignment (again with one token per vertex). The goal is to find the minimum length…
The Multi-Agent Path Finding (MAPF) problem entails finding collision-free paths for a set of agents, guiding them from their start to goal locations. However, MAPF does not account for several practical task-related constraints. For…
In this article, we address the problem of collaborative task assignment, sequencing, and multi-agent pathfinding (TSPF), where a team of agents must visit a set of task locations without collisions while minimizing flowtime. TSPF…