Related papers: Team Coordination on Graphs with State-Dependent E…
In this paper we investigate the problem of the sudden disconnection of an edge in a discrete-time multi-agent consensus network. If the graph remains strongly connected, the multi-agent system still achieves consensus, but in general,…
In this article, we consider a multi-agent path planning problem in a partially impeded environment. The impeded environment is represented by a graph with select road segments (edges) in disrepair impeding vehicular movement in the road…
Edge intelligence has arisen as a promising computing paradigm for supporting miscellaneous smart applications that rely on machine learning techniques. While the community has extensively investigated multi-tier edge deployment for…
In the Multiagent Path Finding problem (MAPF for short), we focus on efficiently finding non-colliding paths for a set of $k$ agents on a given graph $G$, where each agent seeks a path from its source vertex to a target. An important…
This paper considers the Hamiltonian walk problem in the multi-agent coordination framework, referred to as $k$-agents Hamiltonian walk problem ($k$-HWP). In this problem, a set of $k$ connected agents collectively compute a spanning walk…
Real-world optimization problems are generally not just black-box problems, but also involve mixed types of inputs in which discrete and continuous variables coexist. Such mixed-space optimization possesses the primary challenge of modeling…
Collaborative decision-making is an essential capability for multi-robot systems, such as connected vehicles, to collaboratively control autonomous vehicles in accident-prone scenarios. Under limited communication bandwidth, capturing…
We introduce a new RL problem where the agent is required to generalize to a previously-unseen environment characterized by a subtask graph which describes a set of subtasks and their dependencies. Unlike existing hierarchical multitask RL…
Advances in space exploration have led to an explosion of tasks. Conventionally, these tasks are offloaded to ground servers for enhanced computing capability, or to adjacent low-earth-orbit satellites for reduced transmission delay.…
Given a graph, the shortest-path problem requires finding a sequence of edges with minimum cumulative length that connects a source vertex to a target vertex. We consider a variant of this classical problem in which the position of each…
This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as inequalities, which may depend on the positions of other agents…
Routing problems are optimization problems that consider a set of goals in a graph to be visited by a vehicle (or a fleet of them) in an optimal way, while numerous constraints have to be satisfied. We present a solution based on…
This paper is concerned with a constrained optimization problem over a directed graph (digraph) of nodes, in which the cost function is a sum of local objectives, and each node only knows its local objective and constraints. To…
Achieving joint objectives by teams of cooperative planning agents requires significant coordination and communication efforts. For a single-agent system facing a plan failure in a dynamic environment, arguably, attempts to repair the…
Multi-agent pathfinding (MAPF) is the problem of finding a set of conflict-free paths for a set of agents. Typically, the agents' moves are limited to a pre-defined graph of possible locations and allowed transitions between them, e.g. a…
Realistic path planning applications often require optimizing with respect to several criteria simultaneously. Here we introduce an efficient algorithm for bi-criteria path planning on graphs. Our approach is based on augmenting the state…
We introduce the Cooperative Multi-Agent Path Finding (Co-MAPF) problem, an extension to the classical MAPF problem, where cooperative behavior is incorporated. In this setting, a group of autonomous agents operate in a shared environment…
This work investigates the problem of multi-agents trajectory prediction. Prior approaches lack of capability of capturing fine-grained dependencies among coordinated agents. In this paper, we propose a spatial-temporal trajectory…
The Generalized Traveling Salesman Problem (GTSP) is one of the NP-hard combinatorial optimization problems. A variant of GTSP is E-GTSP where E, meaning equality, has the constraint: exactly one node from a cluster of a graph partition is…
We consider the following problem - a group of mobile agents perform some task on a terrain modeled as a graph. In a given moment of time an adversary gets an access to the graph and positions of the agents. Shortly before adversary's…