Related papers: Refined Hardness of Distance-Optimal Multi-Agent P…
The standard LP relaxation of the asymmetric traveling salesman problem has been conjectured to have a constant integrality gap in the metric case. We prove this conjecture when restricted to shortest path metrics of node-weighted digraphs.…
Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to build shorter paths to the goal. Indeed, optimal algorithms…
In this paper, we consider the problem of exploring unknown environments with autonomous agents. We model the environment as a graph with edge weights and analyze the task of visiting all vertices of the graph at least once. The hardness of…
By starting with the assumption that motion is fundamentally a decision making problem, we use the world-line concept from Special Relativity as the inspiration for a novel multi-agent path planning method. We have identified a particular…
In this paper we study a challenging variant of the multi-agent pathfinding problem (MAPF), when a set of agents must reach a set of goal locations, but it does not matter which agent reaches a specific goal - Anonymous MAPF (AMAPF).…
We study the design of fixed-parameter algorithms for problems already known to be solvable in polynomial time. The main motivation is to get more efficient algorithms for problems with unattractive polynomial running times. Here, we focus…
We present a novel algorithm for large-scale Multi-Agent Path Finding (MAPF) that enables fast, scalable planning in dynamic environments such as automated warehouses. Our approach introduces finite-horizon hierarchical factorization, a…
Let G = (V, E) be a directed acyclic graph with two distinguished vertices s, t and let F be a set of forbidden pairs of vertices. We say that a path in G is safe, if it contains at most one vertex from each pair {u, v} in F. Given G and F,…
In this work we study a well-known and challenging problem of Multi-agent Pathfinding, when a set of agents is confined to a graph, each agent is assigned a unique start and goal vertices and the task is to find a set of collision-free…
Fast shipping and efficient routing are key problems of modern logistics. Building on previous studies that address package delivery from a source node to a destination within a graph using multiple agents (such as vehicles, drones, and…
Coordinating the movement of multiple autonomous agents over a shared network is a fundamental challenge in algorithmic robotics, intelligent transportation, and distributed systems. The dominant approach, Multi-Agent Path Finding, relies…
MAPF problem aims to find plans for multiple agents in an environment within a given time, such that the agents do not collide with each other or obstacles. Motivated by the execution and monitoring of these plans, we study Dynamic MAPF…
Let $P$ be a set of $n \geq 5$ points in convex position in the plane. The path graph $G(P)$ of $P$ is an abstract graph whose vertices are non-crossing spanning paths of $P$, such that two paths are adjacent if one can be obtained from the…
In this paper, we study the computational complexity of finding the \emph{geodetic number} of graphs. A set of vertices $S$ of a graph $G$ is a \emph{geodetic set} if any vertex of $G$ lies in some shortest path between some pair of…
Given a connected graph on whose edges we can build roads to connect the nodes, a number of agents hold possibly different perspectives on which edges should be selected by assigning different edge weights. Our task is to build a minimum…
The Multi-Agent Path Finding (MAPF) problem entails finding collision-free paths for a set of agents, guiding them from their start to goal locations. However, MAPF does not account for several practical task-related constraints. For…
This study informs the design of future multi-agent pathfinding (MAPF) and multi-robot motion planning (MRMP) algorithms by guiding choices based on constraint classification for constraint-based search algorithms. We categorize constraints…
We study the NP-hard Shortest Path Most Vital Edges problem arising in the context of analyzing network robustness. For an undirected graph with positive integer edge lengths and two designated vertices $s$ and $t$, the goal is to delete as…
We consider the problem of fairly dividing a set of heterogeneous divisible resources among agents with different preferences. We focus on the setting where the resources correspond to the edges of a connected graph, every agent must be…
Since more and more algorithms are proposed for multi-agent path finding (MAPF) and each of them has its strengths, choosing the correct one for a specific scenario that fulfills some specified requirements is an important task. Previous…