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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…
Deploying multi-robot systems in environments shared with dynamic and uncontrollable agents presents significant challenges, especially for large robot fleets. In such environments, individual robot operations can be delayed due to…
Autonomous agents powered by large language models (LLMs) have shown impressive capabilities in tool manipulation for complex task-solving. However, existing paradigms such as ReAct rely on sequential reasoning and execution, failing to…
This paper addresses the challenge of multi-agent path planning for efficient data collection in dynamic, uncertain environments, exemplified by autonomous underwater vehicles (AUVs) navigating the Gulf of Mexico. Traditional greedy…
In Multiagent Path Finding (MAPF), the goal is to compute efficient, collision-free paths for multiple agents navigating a network from their sources to targets, minimizing the schedule's makespan-the total time until all agents reach their…
Multi-agent coordination is crucial for reliable multi-robot navigation in shared spaces such as automated warehouses. In regions of dense robot traffic, local coordination methods may fail to find a deadlock-free solution. In these…
We propose a distributed planning method with asynchronous execution for multi-agent pickup and delivery (MAPD) problems for environments with occasional delays in agents' activities and flexible endpoints. MAPD is a crucial problem…
This study explores the problem of Multi-Agent Path Finding with continuous and stochastic travel times whose probability distribution is unknown. Our purpose is to manage a group of automated robots that provide package delivery services…
An unmanned aerial vehicle (UAV)-aided mobile edge computing (MEC) framework is proposed, where several UAVs having different trajectories fly over the target area and support the user equipments (UEs) on the ground. We aim to jointly…
The multi-agent pathfinding (MAPF) problem seeks collision-free paths for a team of agents from their current positions to their pre-set goals in a known environment, and is an essential problem found at the core of many logistics,…
Large robot fleets are now common in warehouses and other logistics settings, where small control gains translate into large operational impacts. In this article, we address task scheduling for lifelong Multi-Agent Pickup-and-Delivery…
Multi-Agent Path Finding (MAPF), which involves finding collision-free paths for multiple robots, is crucial in various applications. Lifelong MAPF, where targets are reassigned to agents as soon as they complete their initial targets,…
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 propose the Multi-Agent Corridor Generating Algorithm (MACGA) for solving the Multi-agent Pathfinding (MAPF) problem, where a group of agents need to find non-colliding paths to their target locations. Existing approaches…
This paper explores the integration of Automated Guided Vehicles (AGVs) in warehouse order picking, a crucial and cost-intensive aspect of warehouse operations. The booming AGV industry, accelerated by the COVID-19 pandemic, is witnessing…
The task of the multi-agent pathfinding (MAPF) problem is to navigate a team of agents from their start point to the goal points. However, this setup is unsuitable in the assembly line scenario, which is periodic with a long working hour.…
This paper presents a decentralized multi-agent trajectory planning (MATP) algorithm that guarantees to generate a safe, deadlock-free trajectory in an obstacle-rich environment under a limited communication range. The proposed algorithm…
Directed acyclic graph (DAG) tasks are currently adopted in the real-time domain to model complex applications from the automotive, avionics, and industrial domains that implement their functionalities through chains of intercommunicating…
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…
Cooperative decision-making of Connected Autonomous Vehicles (CAVs) presents a longstanding challenge due to its inherent nonlinearity, non-convexity, and discrete characteristics, compounded by the diverse road topologies encountered in…