Related papers: A Conflict-Based Search Framework for Multi-Object…

Bayesian Optimization (BO) is a powerful tool for optimizing expensive black-box objective functions. While extensive research has been conducted on the single-objective optimization problem, the multi-objective optimization problem remains…

This paper presents an efficient algorithm, naming Centralized Searching and Decentralized Optimization (CSDO), to find feasible solution for large-scale Multi-Vehicle Trajectory Planning (MVTP) problem. Due to the intractable growth of…

Path planning is one of the most vital elements of mobile robotics, providing the agent with a collision-free route through the workspace. The global path plan can be calculated with a variety of informed search algorithms, most notably the…

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 manuscript explores the complexities of multi-objective path planning, aiming to optimize routes against a backdrop of conflicting performance criteria. The study integrates the cell mapping approach as its foundational concept. A…

Multi-agent coordination in automated warehouses and logistics is commonly modeled as the Multi-Agent Path Finding (MAPF) problem. Closed-loop MAPF algorithms improve scalability by planning only the next movement and replanning online, but…

Path planning is one of the most vital elements of mobile robotics. With a priori knowledge of the environment, global path planning provides a collision-free route through the workspace. The global path plan can be calculated with a…

In this work, we consider the Multi-Agent Pickup-and-Delivery (MAPD) problem, where agents constantly engage with new tasks and need to plan collision-free paths to execute them. To execute a task, an agent needs to visit a pair of goal…

Multiple-objective optimization (MOO) aims to simultaneously optimize multiple conflicting objectives and has found important applications in machine learning, such as minimizing classification loss and discrepancy in treating different…

We propose an efficient motion planning method designed to efficiently find collision-free trajectories for multiple manipulators. While multi-manipulator systems offer significant advantages, coordinating their motions is computationally…

Multi-Agent Path Finding (MAPF) is a challenging combinatorial problem that asks us to plan collision-free paths for a team of cooperative agents. In this work, we show that one of the reasons why MAPF is so hard to solve is due to a…

Multi-Agent Path Finding (MAPF) focuses on determining conflict-free paths for multiple agents navigating through a shared space to reach specified goal locations. This problem becomes computationally challenging, particularly when handling…

Multi-robot systems are integral to modern logistics, but their capabilities are often limited to tasks executable by individual agents. This paper addresses a critical gap in existing frameworks like Multi-Agent Path Finding (MAPF) and…

Conflict-Based Search (CBS) is a popular multi-agent path finding (MAPF) solver that employs a low-level single agent planner and a high-level constraint tree to resolve conflicts. The vast majority of modern MAPF solvers focus on improving…

We propose a new Pareto Local Search Algorithm for the many-objective combinatorial optimization. Pareto Local Search proved to be a very effective tool in the case of the bi-objective combinatorial optimization and it was used in a number…

In this paper, we formulate the new multi-objective coverage (MOC) problem where our goal is to identify a small set of representative samples whose predicted outcomes broadly cover the feasible multi-objective space. This problem is of…

Traditional multi-agent path finding (MAPF) methods try to compute entire start-goal paths which are collision free. However, computing an entire path can take too long for MAPF systems where agents need to replan fast. Methods that address…

We study a dynamic version of multi-agent path finding problem (called D-MAPF) where existing agents may leave and new agents may join the team at different times. We introduce a new method to solve D-MAPF based on conflict-resolution. The…

Multi-Objective Alignment (MOA) aims to align LLMs' responses with multiple human preference objectives, with Direct Preference Optimization (DPO) emerging as a prominent approach. However, we find that DPO-based MOA approaches suffer from…

Pareto front profiling in multi-objective optimization (MOO), i.e., finding a diverse set of Pareto optimal solutions, is challenging, especially with expensive objectives that require training a neural network. Typically, in MOO for neural…