Related papers: Cooperative Multi-Agent Path Finding: Beyond Path …
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,…
Deploying multi-robot systems in environments shared with dynamic and uncontrollable agents presents significant challenges, especially for large robot fleets. In such environments, individual robot operations can be delayed due to…
Purpose of Review Planning collision-free paths for multiple robots is important for real-world multi-robot systems and has been studied as an optimization problem on graphs, called Multi-Agent Path Finding (MAPF). This review surveys…
We propose a novel complete algorithm for multi-agent pathfinding (MAPF) called lazy constraints addition search for MAPF (LaCAM). MAPF is a problem of finding collision-free paths for multiple agents on graphs and is the foundation of…
Multi-Agent Path Finding (MAPF) is an important optimization problem underlying the deployment of robots in automated warehouses and factories. Despite the large body of work on this topic, most approaches make heavy simplifications, both…
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…
Multi-agent path finding (MAPF) is the problem of moving agents to the goal vertex without collision. In the online MAPF problem, new agents may be added to the environment at any time, and the current agents have no information about…
The primary objective of Multi-Agent Pathfinding (MAPF) is to plan efficient and conflict-free paths for all agents. Traditional multi-agent path planning algorithms struggle to achieve efficient distributed path planning for multiple…
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…
During Multi-Agent Path Finding (MAPF) problems, agents can be delayed by unexpected events. To address such situations recent work describes k-Robust Conflict-BasedSearch (k-CBS): an algorithm that produces coordinated and collision-free…
Multi-agent path finding (MAPF) attracts considerable attention in artificial intelligence community as well as in robotics, and other fields such as warehouse logistics. The task in the standard MAPF is to find paths through which agents…
Cooperative multi-agent planning (MAP) is a relatively recent research field that combines technologies, algorithms and techniques developed by the Artificial Intelligence Planning and Multi-Agent Systems communities. While planning has…
Several recently developed Multi-Agent Path Finding (MAPF) solvers scale to large MAPF instances by searching for MAPF plans on 2 levels: The high-level search resolves collisions between agents, and the low-level search plans paths for…
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…
Multi-agent pathfinding (MAPF) is a widely used abstraction for multi-robot trajectory planning problems, where multiple homogeneous agents move simultaneously within a shared environment. Although solving MAPF optimally is NP-hard,…
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…
The MAPF problem is the fundamental problem of planning paths for multiple agents, where the key constraint is that the agents will be able to follow these paths concurrently without colliding with each other. Applications of MAPF include…
The problem of makespan optimal solving of cooperative path finding (CPF) is addressed in this paper. The task in CPF is to relocate a group of agents in a non-colliding way so that each agent eventually reaches its goal location from the…
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…
Multi-agent path finding (MAPF) determines an ensemble of collision-free paths for multiple agents between their respective start and goal locations. Among the available MAPF planners for workspace modeled as a graph, A*-based approaches…