Related papers: Coordinated Multi-Agent Pathfinding for Drones and…
This paper presents a new approach for formulating the delivery problem by drones with general energy consumption models where the drones visit a set of places to deliver parcels to customers. Drones can perform multiple trips that start…
A segment (barrier) is specified on the plane, as well as depots, where the mobile devices (drones) can be placed. Each drone departs from its depot to the barrier, moves along the barrier and returns to its depot, traveling a path of a…
Using the growing volumes of vehicle trajectory data, it becomes increasingly possible to capture time-varying and uncertain travel costs in a road network, including travel time and fuel consumption. The current paradigm represents a road…
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…
Multi-robot path planning is a computational process involving finding paths for each robot from its start to the goal while ensuring collision-free operation. It is widely used in robots and autonomous driving. However, the computational…
This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…
Platooning is a way to significantly reduce fuel consumption of trucks. Vehicles that drive at close inter-vehicle distance assisted by automatic controllers experience substantially lower air-drag. In this paper, we deal with the problem…
This paper addresses a critical aerial defense challenge in contested airspace, involving three autonomous aerial vehicles -- a hostile drone (the pursuer), a high-value drone (the evader), and a protective drone (the defender). We present…
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…
A reliable communication network is essential for multiple UAVs operating within obstacle-cluttered environments, where limited communication due to obstructions often occurs. A common solution is to deploy intermediate UAVs to relay…
Delivering a parcel from the distribution hub to the customer's doorstep is called the \textit{last-mile delivery} step in delivery logistics. In this paper, we study a hybrid {\it truck-drones} model for the last-mile delivery step, in…
Carrier-grade networks comprise several layers where different protocols coexist. Nowadays, most of these networks have different control planes to manage routing on different layers, leading to a suboptimal use of the network resources and…
This paper presents a new online multi-agent trajectory planning algorithm that guarantees to generate safe, dynamically feasible trajectories in a cluttered environment. The proposed algorithm utilizes a linear safe corridor (LSC) to…
In this paper a deep reinforcement based multi-agent path planning approach is introduced. The experiments are realized in a simulation environment and in this environment different multi-agent path planning problems are produced. The…
This paper studies high-speed online planning in dynamic environments. The problem requires finding time-optimal trajectories that conform to system dynamics, meeting computational constraints for real-time adaptation, and accounting for…
Multi-Agent Pickup and Delivery (MAPD) is the problem of computing collision-free paths for a group of agents such that they can safely reach delivery locations from pickup ones. These locations are provided at runtime, making MAPD a…
Multi-agent systems can be extremely efficient when working concurrently and collaboratively, e.g., for transportation, maintenance, search and rescue. Coordination of such teams often involves two aspects: (i) selecting appropriate…
With the growing penetration of electric trucks, freight transportation is transitioning toward a mixed system comprising both fuel-powered and electric trucks. Enhancing truck platoon formation in such a heterogeneous environment presents…
Timely delivery and optimal routing remain fundamental challenges in the modern logistics industry. Building on prior work that considers single-package delivery across networks using multiple types of collaborative agents with restricted…
We consider the problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time spent there. We…