Related papers: S$^*$: A Heuristic Information-Based Approximation…
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…
Partially Observable Markov Decision Processes (POMDPs) are powerful models for sequential decision making under transition and observation uncertainties. This paper studies the challenging yet important problem in POMDPs known as the…
The Multi-Agent Path Finding (MAPF) problem aims at finding non-conflicting paths for multiple agents from their respective sources to destinations. This problem arises in multiple real-life situations, including robot motion planning and…
Meta-heuristics are frequently used to tackle NP-hard combinatorial optimization problems. With this paper we contribute to the understanding of the success of 2-opt based local search algorithms for solving the traveling salesman problem…
We formalize 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 the deadline, without colliding with each…
Finding the shortest path between two points in a graph is a fundamental problem that has been well-studied over the past several decades. Shortest path algorithms are commonly applied to modern navigation systems, so our study aims to…
We present a general framework for applying learning algorithms and heuristical guidance to the verification of Markov decision processes (MDPs). The primary goal of our techniques is to improve performance by avoiding an exhaustive…
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…
We consider geometric instances of the Maximum Weighted Matching Problem (MWMP) and the Maximum Traveling Salesman Problem (MTSP) with up to 3,000,000 vertices. Making use of a geometric duality relationship between MWMP, MTSP, and the…
We study the problem of optimal multi-robot path planning on graphs MPP over four distinct minimization objectives: the makespan (last arrival time), the maximum (single-robot traveled) distance, the total arrival time, and the total…
We consider an agent seeking to obtain an item, potentially available at different locations in a physical environment. The traveling costs between locations are known in advance, but there is only probabilistic knowledge regarding the…
Multi-Agent Path Finding (MAPF) aims to arrange collision-free goal-reaching paths for a group of agents. Anytime MAPF solvers based on large neighborhood search (LNS) have gained prominence recently due to their flexibility and…
Multi Agent Path Finding (MAPF) seeks the optimal set of paths for multiple agents from respective start to goal locations such that no paths conflict. We address the MAPF problem for a fleet of hybrid-fuel unmanned aerial vehicles which…
The Flying Sidekick Traveling Salesman Problem (FSTSP) considers a delivery system composed by a truck and a drone. The drone launches from the truck with a single package to deliver to a customer. Each drone must return to the truck to…
In multi-criteria optimization problems, several objective functions have to be optimized. Since the different objective functions are usually in conflict with each other, one cannot consider only one particular solution as the optimal…
The multiple Traveling Salesmen Problem (mTSP) is a general extension of the famous NP-hard Traveling Salesmen Problem (TSP), that there are m (m > 1) salesmen to visit the cities. In this paper, we address the mTSP with both the minsum…
In this paper we present a new population based metaheuristic called the fixed set search (FSS). The proposed approach represents a method of adding a learning mechanism to the greedy randomized adaptive search procedure (GRASP). The basic…
In the Multi-Agent Path Finding (MAPF) problem, the goal is to find non-colliding paths for agents in an environment, such that each agent reaches its goal from its initial location. In safety-critical applications, a human supervisor may…
The Multi-objective Shortest Path (MOSP) problem is a classic network optimization problem that aims to find all Pareto-optimal paths between two points in a graph with multiple edge costs. Recent studies on multi-objective search with A*…
School bus planning problem (SBPP) has drawn much research attention due to the huge costs of school transportation. In the literature, the SBPP is usually decomposed into the routing and scheduling subproblems due to its complexity.…