Related papers: MAMS-A*: Multi-Agent Multi-Scale A*
The problem of search by multiple agents to find and localize objects arises in many important applications. In this paper, we study a class of multi-agent search problems in which each agent can access only a subset of a discrete search…
The Meta-Agent Conflict-Based Search~(MA-CBS) is a recently proposed algorithm for the multi-agent path finding problem. The algorithm is an extension of Conflict-Based Search~(CBS), which automatically merges conflicting agents into…
This paper presents the formulation and analysis of a two time-scale optimization algorithm for multi-agent coordination for the purpose of distributed beamforming. Each agent is assumed to be randomly positioned with respect to each other…
We consider a problem where multiple agents must learn an action profile that maximises the sum of their utilities in a distributed manner. The agents are assumed to have no knowledge of either the utility functions or the actions and…
Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics that asks us to compute collision-free paths for a team of agents, all moving across a shared map. Although many works appear on this topic, all current algorithms…
Many problems of interest for cyber-physical network systems can be formulated as Mixed-Integer Linear Programs in which the constraints are distributed among the agents. In this paper we propose a distributed algorithmic framework to solve…
Coordinating multi-agent systems over spatially distributed areas requires solving a complex hierarchical problem: first distributing areas among agents (allocation) and subsequently determining the optimal visitation order (routing).…
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,…
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…
In this paper, we consider distributed optimization problems where the goal is to minimize a sum of objective functions over a multi-agent network. We focus on the case when the inter-agent communication is described by a…
Multi-agent path finding (MAPF) is the problem of moving agents to the goal vertex without collision. In the online MAPF problem, new agents may be added to the environment at any time, and the current agents have no information about…
We study prioritized planning for Multi-Agent Path Finding (MAPF). Existing prioritized MAPF algorithms depend on rule-of-thumb heuristics and random assignment to determine a fixed total priority ordering of all agents a priori. We instead…
Multi-agent Pathfinding (MAPF) problem generally asks to find a set of conflict-free paths for a set of agents confined to a graph and is typically solved in a centralized fashion. Conversely, in this work, we investigate the decentralized…
In this paper, we investigate the distributed optimal control problem for a kind of nonlinear multi-agent systems. In particular,both the state and the system dynamic structures of each agent are private and can only be shared among…
This paper studies an optimal consensus problem for a group of heterogeneous high-order agents with unknown control directions. Compared with existing consensus results, the consensus point is further required to an optimal solution to some…
Autonomous agents face the challenge of coordinating multiple tasks (perception, motion planning, controller) which are computationally expensive on a single onboard computer. To utilize the onboard processing capacity optimally, it is…
In the standard Mechanism Design framework, agents' messages are gathered at a central point and allocation/tax functions are calculated in a centralized manner, i.e., as functions of all network agents' messages. This requirement may cause…
Multi Agent Path Finding (MAPF) seeks the optimal set of paths for multiple agents from respective start to goal locations such that no paths conflict. We address the MAPF problem for a fleet of hybrid-fuel unmanned aerial vehicles which…
Communication and topology aware process mapping is a powerful approach to reduce communication time in parallel applications with known communication patterns on large, distributed memory systems. We address the problem as a quadratic…
We have a set of processors (or agents) and a set of graph networks defined over some vertex set. Each processor can access a subset of the graph networks. Each processor has a demand specified as a pair of vertices $<u, v>$, along with a…