Related papers: S$^*$: A Heuristic Information-Based Approximation…
The problem of kinodynamic multi-goal motion planning is to find a trajectory over multiple target locations with an apriori unknown sequence of visits. The objective is to minimize the cost of the trajectory planned in a cluttered…
This work addresses the uniform parallel machine scheduling problem within an optimistic bilevel optimization framework. The leader seeks to minimize the weighted number of tardy jobs, while the follower aims to minimize the total…
Multi-Agent Path Finding (MAPF) finds conflict-free paths for multiple agents from their respective start to goal locations. MAPF is challenging as the joint configuration space grows exponentially with respect to the number of agents.…
This work considers infinite-horizon optimal control of positive linear systems applied to the case of network routing problems. We demonstrate the equivalence between Stochastic Shortest Path (SSP) problems and optimal control of a certain…
Multi-Robot Path Planning (MRPP) on graphs, equivalently known as Multi-Agent Path Finding (MAPF), is a well-established NP-hard problem with critically important applications. As serial computation in (near)-optimally solving MRPP…
The Traveling Thief Problem (TTP) is a multi-component optimization problem that captures the interplay between routing and packing decisions by combining the classical Traveling Salesperson Problem (TSP) and the Knapsack Problem (KP). The…
Existing motion planning methods often have two drawbacks: 1) goal configurations need to be specified by a user, and 2) only a single solution is generated under a given condition. In practice, multiple possible goal configurations exist…
In this paper, we propose a novel end-to-end approach for solving the multi-goal path planning problem in obstacle environments. Our proposed model, called S&Reg, integrates multi-task learning networks with a TSP solver and a path planner…
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,…
As a first contribution the mTSP is solved using an exact method and two heuristics, where the number of nodes per route is balanced. The first heuristic uses a nearest node approach and the second assigns the closest vehicle (salesman). A…
The subpath planning problem is a branch of the path planning problem, which has widespread applications in automated manufacturing process as well as vehicle and robot navigation. This problem is to find the shortest path or tour subject…
The 2D Multi-Agent Path Finding (MAPF) problem aims at finding collision-free paths for a number of agents, from a set of start locations to a set of goal positions in a known 2D environment. MAPF has been studied in theoretical computer…
Anytime multi-agent path finding (MAPF) is a promising approach to scalable path optimization in multi-agent systems. MAPF-LNS, based on Large Neighborhood Search (LNS), is the current state-of-the-art approach where a fast initial solution…
Multi Agent Path Finding (MAPF) requires identification of conflict free paths for agents which could be point-sized or with dimensions. In this paper, we propose an approach for MAPF for spatially-extended agents. These find application in…
We study the iterative refinement of path planning for multiple robots, known as multi-agent pathfinding (MAPF). Given a graph, agents, their initial locations, and destinations, a solution of MAPF is a set of paths without collisions.…
Solutions to the Traveling Salesperson Problem (TSP) have practical applications to processes in transportation, logistics, and automation, yet must be computed with minimal delay to satisfy the real-time nature of the underlying tasks.…
Grover's search algorithm is one of the basic building block in the world of quantum algorithms. Successfully applying it to combinatorial optimization problems is a subtle challenge. As a quadratic speedup is not enough to naively search…
Autonomous path planning requires a synergy between global reasoning and geometric precision, especially in complex or cluttered environments. While classical A* is valued for its optimality, it incurs prohibitive computational and memory…
Multi-agent path finding (MAPF) is well-studied in artificial intelligence, robotics, theoretical computer science and operations research. We discuss issues that arise when generalizing MAPF methods to real-world scenarios and four…
We propose a quantum heuristic algorithm to solve a traveling salesman problem by generalizing Grover search. Sufficient conditions are derived to greatly enhance the probability of finding the tours with extremal costs, reaching almost to…