Related papers: Resolving Head-On Conflicts for Multi-Agent Path F…

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,…

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…

Multi-Agent Path-Finding (MAPF) focuses on the collaborative planning of paths for multiple agents within shared spaces, aiming for collision-free navigation. Conventional planning methods often overlook the presence of other agents, which…

Multi-agent pathfinding (MAPF) is concerned with planning collision-free paths for a team of agents from their start to goal locations in an environment cluttered with obstacles. Typical approaches for MAPF consider the locations of…

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…

Multi-agent path finding (MAPF) is the problem of planning conflict-free paths from the designated start locations to goal positions for multiple agents. It underlies a variety of real-world tasks, including multi-robot coordination,…

Anytime multi-agent path finding (MAPF) is a promising approach to scalable path optimization in multi-agent systems. MAPF-LNS, based on Large Neighborhood Search (LNS), is the current state-of-the-art approach where a fast initial solution…

This paper introduces a new approach to solving a continuous-time version of the multi-agent path finding problem. The algorithm translates the problem into an extension of the classical Boolean satisfiability problem, satisfiability modulo…

Multi-agent pathfinding (MAPF) is a challenging problem which is hard to solve optimally even when simplifying assumptions are adopted, e.g. planar graphs (typically -- grids), discretized time, uniform duration of move and wait actions…

We address the motion planning problem for multiple robotic manipulators in packed environments where shared workspace can result in goal positions occupied or blocked by other robots unless those other robots move away to make the goal…

Multi-Agent Path Finding (MAPF), i.e., finding collision-free paths for multiple robots, plays a critical role in many applications. Sometimes, assigning a target to each agent also presents a challenge. The Combined Target-Assignment and…

Safety is the primary concern when it comes to air traffic. In-flight safety between Unmanned Aircraft Vehicles (UAVs) is ensured through pairwise separation minima, utilizing conflict detection and resolution methods. Existing methods…

We formalize the problem of multi-agent path finding with deadlines (MAPF-DL). The objective is to maximize the number of agents that can reach their given goal vertices from their given start vertices within a given deadline, without…

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…

We consider a Multi-Agent Path Finding (MAPF) setting where agents have been assigned a plan, but during its execution some agents are delayed. Instead of replanning from scratch when such a delay occurs, we propose delay introduction,…

Constraint Optimization Problems (COP) pose intricate challenges in combinatorial problems usually addressed through Branch and Bound (B\&B) methods, which involve maintaining priority queues and iteratively selecting branches to search for…

Multi-lane roads are typical scenarios in the real-world traffic system. Vehicles usually have preference on lanes according to their routes and destinations. Few of the existing studies looks into the problem of controlling vehicles to…

Multi-agent path finding (MAPF) is an active area in artificial intelligence, which has many real-world applications such as warehouse management, traffic control, robotics, etc. Recently, M* and its variants have greatly improved the…

Multi-Agent Path Finding (MAPF) is an NP-hard problem well studied in artificial intelligence and robotics. It has many real-world applications for which existing MAPF solvers use various heuristics. However, these solvers are deterministic…

Multi-agent path finding (MAPF) is the problem of finding collision-free paths for a team of agents to reach their goal locations. State-of-the-art classical MAPF solvers typically employ heuristic search to find solutions for hundreds of…