Related papers: PRIMAL2: Pathfinding via Reinforcement and Imitati…
Finding near-optimal solutions for dense multi-agent pathfinding (MAPF) problems in real-time remains challenging even for state-of-the-art planners. To this end, we develop a hybrid framework that integrates a learned heuristic derived…
Modern Multi-Agent Path Finding (MAPF) algorithms must plan for hundreds to thousands of agents in congested environments within a second, requiring highly efficient algorithms. Priority Inheritance with Backtracking (PIBT) is a popular…
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,…
In the context of visual navigation, the capacity to map a novel environment is necessary for an agent to exploit its observation history in the considered place and efficiently reach known goals. This ability can be associated with spatial…
Multi-agent Pickup and Delivery (MAPD) is a challenging industrial problem where a team of robots is tasked with transporting a set of tasks, each from an initial location and each to a specified target location. Appearing in the context of…
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…
We propose a multi-robot control paradigm to solve point-to-point navigation tasks for a team of holonomic robots with access to the full environment information. The framework invokes two processes asynchronously at high frequency: (i) a…
Autonomous robots are widely utilized for mapping and exploration tasks due to their cost-effectiveness. Multi-robot systems offer scalability and efficiency, especially in terms of the number of robots deployed in more complex…
Multiagent Reinforcement Learning (MARL) poses significant challenges due to the exponential growth of state and action spaces and the non-stationary nature of multiagent environments. This results in notable sample inefficiency and hinders…
Multi-Agent Path Finding (MAPF) requires collision-free trajectories for multiple agents on a shared graph, often with the objective of minimizing the sum-of-costs (SOC). Many optimal and bounded-suboptimal solvers rely on time-expanded…
Discovering successful coordinated behaviors is a central challenge in Multi-Agent Reinforcement Learning (MARL) since it requires exploring a joint action space that grows exponentially with the number of agents. In this paper, we propose…
Training multiple agents to coordinate is an essential problem with applications in robotics, game theory, economics, and social sciences. However, most existing Multi-Agent Reinforcement Learning (MARL) methods are online and thus…
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…
This paper proposes an intent-aware multi-agent planning framework as well as a learning algorithm. Under this framework, an agent plans in the goal space to maximize the expected utility. The planning process takes the belief of other…
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…
Multi-Agent Reinforcement Learning (MARL) approaches have emerged as popular solutions to address the general challenges of cooperation in multi-agent environments, where the success of achieving shared or individual goals critically…
The deployment of multi-agent systems in dynamic, adversarial environments like robotic soccer necessitates real-time decision-making, sophisticated cooperation, and scalable algorithms to avoid the curse of dimensionality. While…
We investigate the problem of wireless routing in integrated access backhaul (IAB) networks consisting of fiber-connected and wireless base stations and multiple users. The physical constraints of these networks prevent the use of a central…
In Lifelong Multi-Agent Path Finding (L-MAPF) a team of agents performs a stream of tasks consisting of multiple locations to be visited by the agents on a shared graph while avoiding collisions with one another. L-MAPF is typically tackled…
Multi-arm motion planning is fundamental for enabling arms to complete complex long-horizon tasks in shared spaces efficiently but current methods struggle with scalability due to exponential state-space growth and reliance on large…