Related papers: Multi-Goal Multi-Agent Pickup and Delivery
Multi-agent path finding (MAPF) is an indispensable component of large-scale robot deployments in numerous domains ranging from airport management to warehouse automation. In particular, this work addresses lifelong MAPF (LMAPF) - an online…
Multi-Agent Motion Planning (MAMP) finds various applications in fields such as traffic management, airport operations, and warehouse automation. In many of these environments, differential drive robots are commonly used. These robots have…
Path finding problems involve identification of a plan for conflict free movement of agents over a common road network. Most approaches to this problem handle the agents as point objects, wherein the size of the agent is significantly…
The goal of Multi-Agent Path Finding (MAPF) is to find a set of paths for a fleet of agents moving in a shared environment such that the agents reach their goals without colliding with each other. In practice, some of the robots executing…
Multi-Agent Path Finding (MAPF), i.e., finding collision-free paths for multiple robots, plays a critical role in many applications. Sometimes, assigning a target to each agent also presents a challenge. The Combined Target-Assignment and…
Real-time planning for a combined problem of target assignment and path planning for multiple agents, also known as the unlabeled version of Multi-Agent Path Finding (MAPF), is crucial for high-level coordination in multi-agent systems,…
Missions for autonomous systems often require agents to visit multiple targets in complex operating conditions. This work considers the problem of visiting a set of targets in minimum time by a team of non-communicating agents in a Markov…
Motivated by a real-world application, we model and solve a complex staff scheduling problem. Tasks are to be assigned to workers for supervision. Multiple tasks can be covered in parallel by a single worker, with worker shifts being…
In multi-agent path finding (MAPF) the task is to navigate agents from their starting positions to given individual goals. The problem takes place in an undirected graph whose vertices represent positions and edges define the topology.…
The problem of Multi-Agent Path Finding (MAPF) calls for finding a set of conflict-free paths for a fleet of agents operating in a given environment. Arguably, the state-of-the-art approach to computing optimal solutions is Conflict-Based…
Multi-agent pathfinding (MAPF) under one-shot planning is a core component of warehouse automation, yet classical formulations typically assume four-connected 2D grids with unit-time moves in four directions. To fill reality gaps while…
The multi-agent path finding (MAPF) problem is a combinatorial search problem that aims at finding paths for multiple agents (e.g., robots) in an environment (e.g., an autonomous warehouse) such that no two agents collide with each other,…
In this paper, we plan missions for a fleet of agents in undirected graphs, such as grids, with multiple goals. In contrast to regular multi-agent path-finding, the solver finds and updates the assignment of goals to the agents on its own.…
Coordinating multiple autonomous agents in shared environments under decentralized conditions is a long-standing challenge in robotics and artificial intelligence. This work addresses the problem of decentralized goal assignment 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 Path Finding in Continuous Time (\mapfr) extends the classical MAPF problem by allowing agents to operate in continuous time. Conflict-Based Search with Continuous Time (CCBS) is a foundational algorithm for solving \mapfr…
This paper addresses the cooperative Multi-Vehicle Dynamic Pickup and Delivery Problem with Stochastic Requests (MVDPDPSR) and proposes an end-to-end centralized decision-making framework based on sequence-to-sequence, named Multi-Agent…
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) is the problem of finding a set of collision-free paths for a team of agents. Although several MAPF methods which solve full-horizon MAPF have completeness guarantees, very few MAPF methods that plan partial…
Multi-agent pathfinding (MAPF) is a problem that generally requires finding collision-free paths for multiple agents in a shared environment. Solving MAPF optimally, even under restrictive assumptions, is NP-hard, yet efficient solutions…