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The problem of makespan optimal solving of cooperative path finding (CPF) is addressed in this paper. The task in CPF is to relocate a group of agents in a non-colliding way so that each agent eventually reaches its goal location from the…
Multi-agent path planning (MAPP) in continuous spaces is a challenging problem with significant practical importance. One promising approach is to first construct graphs approximating the spaces, called roadmaps, and then apply multi-agent…
Many real-world problems can be formulated as a constrained Traveling Salesman Problem (TSP). However, the constraints are always complex and numerous, making the TSPs challenging to solve. When the number of complicated constraints grows,…
Multi-Agent Path Finding (MAPF) is the problem of finding collision-free paths for multiple agents from their start locations to end locations. We consider an extension to this problem, Precedence Constrained Multi-Agent Path Finding…
This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as inequalities, which may depend on the positions of other agents…
Physarum polycephalum inspired algorithm (PPA), also known as the Physarum Solver, has attracted great attention. By modelling real-world problems into a graph with network flow and adopting proper equations to calculate the distance…
We present a new Dynamic Programming (DP) formulation of the Coalition Structure Generation (CSG) problem based on imposing a hierarchical organizational structure over the agents. We show the efficiency of this formulation by deriving…
We present a hybrid optimization framework for a class of problems, formalized as a generalization of the Continuous Energy-Con\-strained Scheduling Problem (CECSP), introduced by Nattaf et al. (2014). This class is obtained from challenges…
Spatio-temporal prediction plays a crucial role in intelligent transportation, weather forecasting, and urban planning. While integrating multi-modal data has shown potential for enhancing prediction accuracy, key challenges persist: (i)…
Recently, multi-time-scale agent architectures have extended the ubiquitous single-loop paradigm by introducing temporal hierarchies with distinct cognitive layers. While yielding substantial performance gains, this diversification…
In this paper, we investigate the problem of linear temporal logic (LTL) path planning for multi-agent systems, introducing the new concept of \emph{ordering constraints}. Specifically, we consider a generic objective function that is…
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 paper, we study the multi-robot task allocation problem where a group of robots needs to be allocated to a set of tasks so that the tasks can be finished optimally. One task may need more than one robot to finish it. Therefore the…
This paper presents a control strategy based on a new notion of time-varying fixed-time convergent control barrier functions (TFCBFs) for a class of coupled multi-agent systems under signal temporal logic (STL) tasks. In this framework,…
We study the TAPF (combined target-assignment and path-finding) problem for teams of agents in known terrain, which generalizes both the anonymous and non-anonymous multi-agent path-finding problems. Each of the teams is given the same…
We present a novel algorithm for large-scale Multi-Agent Path Finding (MAPF) that enables fast, scalable planning in dynamic environments such as automated warehouses. Our approach introduces finite-horizon hierarchical factorization, a…
This paper presents a novel approach to solve capacitated facility location problems (FLP) that encompass various resource allocation problems. FLPs are a class of NP-hard combinatorial optimization problems, involving optimal placement and…
We study a new formulation of the team-formation problem, where the goal is to form teams to work on a given set of tasks requiring different skills. Deviating from the classic problem setting where one is asking to cover all skills of each…
In large-scale natural disasters, humans are likely to fail when they attempt to reach high-risk sites or act in search and rescue operations. Robots, however, outdo their counterparts in surviving the hazards and handling the search and…
In dynamic urban logistics, the stochastic emergence of time-sensitive tasks poses a significant optimality challenge for heterogeneous AAVs logistics task allocation. To address this problem, a reinforcement learning enhanced overlapping…