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Safe Interval Path Planning (SIPP) is a powerful algorithm for solving single-agent pathfinding problem when the agent is confined to a graph and certain vertices/edges of this graph are blocked at certain time intervals due to dynamic…
Information gathering in large-scale or time-critical scenarios (e.g., environmental monitoring, search and rescue) requires broad coverage within limited time budgets, motivating the use of multi-agent systems. These scenarios are commonly…
Some of today's most significant challenges in urban environments concern individual mobility and rapid parcel delivery. With the surge of e-commerce and the ever-increasing volume of goods to be handled, new logistic solutions are in high…
Multi-Agent Path Finding (MAPF) poses a significant and challenging problem critical for applications in robotics and logistics, particularly due to its combinatorial complexity and the partial observability inherent in realistic…
We present a message passing algorithm for localization and tracking in multipath-prone environments that implicitly considers obstructed line-of-sight situations. The proposed adaptive probabilistic data association algorithm infers the…
Multi-Agent Path Finding (MAPF) seeks collision-free paths for multiple agents from their respective starting locations to their respective goal locations while minimizing path costs. Although many MAPF algorithms were developed and can…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
Multi-Agent Path Finding (MAPF) is an NP-hard problem with applications in warehouse automation and multi-robot coordination. Learning-based MAPF solvers offer fast and scalable planning but often produce feasible trajectories that contain…
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…
Planning collision-free paths for multi-robot systems (MRS) is a challenging problem because of the safety and efficiency constraints required for real-world solutions. Even though coupled path planning approaches provide optimal…
We study the multi-agent path finding problem (MAPF) for a group of agents which are allowed to move into arbitrary directions on a 2D square grid. We focus on centralized conflict resolution for independently computed plans. We propose an…
Coordinating multi-agent systems over spatially distributed areas requires solving a complex hierarchical problem: first distributing areas among agents (allocation) and subsequently determining the optimal visitation order (routing).…
In structured multi-agent transportation systems, agents often must follow predefined routes, making spatial rerouting undesirable or impossible. This paper addresses route-constrained multi-agent coordination by optimizing waypoint passage…
Challenges in last-mile delivery have encouraged innovative solutions like crowdsourced delivery, where online platforms leverage the services of drivers who occasionally perform delivery tasks for compensation. A key challenge is that…
This paper addresses the challenge of multi-agent path planning for efficient data collection in dynamic, uncertain environments, exemplified by autonomous underwater vehicles (AUVs) navigating the Gulf of Mexico. Traditional greedy…
Maze-like environments, such as cave and pipe networks, pose unique challenges for multiple robots to coordinate, including communication constraints and congestion. To address these challenges, we propose a distributed multi-agent maze…
The reliability of a system can be improved by the addition of redundant elements, giving rise to the well-known redundancy allocation problem (RAP). We propose a novel extension to the RAP called the Bi-Objective Integrated Design and…
We propose an approach to find low-makespan solutions to multi-robot multi-task planning problems in environments where robots block each other from completing tasks simultaneously. We introduce a formulation of the problem that allows for…
Safe path and gait planning are essential for bipedal robots to navigate complex real-world environments. The prevailing approaches often plan the path and gait separately in a hierarchical fashion, potentially resulting in unsafe movements…
In this paper, we are concerned with the automated exchange of orders between logistics companies in a marketplace platform to optimize total revenues. We introduce a novel multi-agent approach to this problem, focusing on the Collaborative…