Related papers: Improving Continuous-time Conflict Based Search

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…

Model merging based on task vectors, i.e., the parameter differences between fine-tuned models and a shared base model, provides an efficient way to integrate multiple task-specific models into a multitask model without retraining. Recent…

Recently, Large Language Models (LLMs) have demonstrated remarkable advancements in Natural Language Processing (NLP). However, generating high-quality text that balances coherence, diversity, and relevance remains challenging. Traditional…

Combinatorial Optimization underpins many real-world applications and yet, designing performant algorithms to solve these complex, typically NP-hard, problems remains a significant research challenge. Reinforcement Learning (RL) provides a…

Contextual policy search (CPS) is a class of multi-task reinforcement learning algorithms that is particularly useful for robotic applications. A recent state-of-the-art method is Contextual Covariance Matrix Adaptation Evolution Strategies…

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…

Actor-critic methods, like Twin Delayed Deep Deterministic Policy Gradient (TD3), depend on basic noise-based exploration, which can result in less than optimal policy convergence. In this study, we introduce Monte Carlo Beam Search (MCBS),…

This paper investigates Multi-Agent Path Finding Among Movable Obstacles (M-PAMO), which seeks collision-free paths for multiple agents from their start to goal locations among static and movable obstacles. M-PAMO arises in logistics and…

In this paper we present and evaluate a search strategy called Decomposition Based Search (DBS) which is based on two steps: subproblem generation and subproblem solution. The generation of subproblems is done through value ranking and…

The field of Distributed Constraint Optimization has gained momentum in recent years, thanks to its ability to address various applications related to multi-agent cooperation. Nevertheless, solving Distributed Constraint Optimization…

Nonlinear dynamical systems with continuous variables can be used for solving combinatorial optimization problems with discrete variables. Numerical simulations of them are also useful as heuristic algorithms with a desirable property,…

Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…

Many optimization problems in science and engineering are highly nonlinear, and thus require sophisticated optimization techniques to solve. Traditional techniques such as gradient-based algorithms are mostly local search methods, and often…

We introduce PRISM (Pathfinding with Rapid Information Sharing using Motion Constraints), a decentralized algorithm designed to address the multi-task multi-agent pathfinding (MT-MAPF) problem. PRISM enables large teams of agents to…

Much current research in AI and games is being devoted to Monte Carlo search (MCS) algorithms. While the quest for a single unified MCS algorithm that would perform well on all problems is of major interest for AI, practitioners often know…

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

Multi-Agent Path Finding (MAPF) is the problem of finding a set of collision-free paths for a team of agents. Although several MAPF methods which solve full-horizon MAPF have completeness guarantees, very few MAPF methods that plan partial…

We consider a vehicle routing problem which seeks to minimize cost subject to time window and synchronization constraints. In this problem, the fleet of vehicles is categorized into regular and special vehicles. Some customers require both…

Multi-agent Path Finding (MAPF) is the problem of planning collision-free movements of agents so that they get from where they are to where they need to be. Commonly, agents are located on a graph and can traverse edges. This problem has…

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…