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Multi-Agent Motion Planning (MAMP) is a problem that seeks collision-free dynamically-feasible trajectories for multiple moving agents in a known environment while minimizing their travel time. MAMP is closely related to the well-studied…
Anytime multi-agent path finding (MAPF) is a promising approach to scalable path optimization in multi-agent systems. MAPF-LNS, based on Large Neighborhood Search (LNS), is the current state-of-the-art approach where a fast initial solution…
Multi-Agent Path Finding (MAPF), i.e., finding collision-free paths for multiple robots, is important for many applications where small runtimes are necessary, including the kind of automated warehouses operated by Amazon. CBS is a leading…
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…
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,…
Recent work on the multi-agent pathfinding problem (MAPF) has begun to study agents with motion that is more complex, for example, with non-unit action durations and kinematic constraints. An important aspect of MAPF is collision detection.…
Researchers and practitioners operating on a limited budget face the cost-performance trade-off dilemma. The challenging decision often centers on whether to use a large LLM with better performance or a smaller one with reduced costs. This…
We formalize and study the multi-goal task assignment and path finding (MG-TAPF) problem from theoretical and algorithmic perspectives. The MG-TAPF problem is to compute an assignment of tasks to agents, where each task consists of a…
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…
Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…
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…
In this paper, we propose the Multi-Agent Corridor Generating Algorithm (MACGA) for solving the Multi-agent Pathfinding (MAPF) problem, where a group of agents need to find non-colliding paths to their target locations. Existing approaches…
Multi-agent navigation in dynamic environments is of great industrial value when deploying a large scale fleet of robot to real-world applications. This paper proposes a decentralized partially observable multi-agent path planning with…
Large-scale multi-agent pathfinding (MAPF) presents significant challenges in several areas. As systems grow in complexity with a multitude of autonomous agents operating simultaneously, efficient and collision-free coordination becomes…
The proliferation of large language models (LLMs) has accelerated the adoption of agent-based workflows, where multiple autonomous agents reason, invoke functions, and collaborate to compose complex data pipelines. However, current…
Travel sharing, i.e., the problem of finding parts of routes which can be shared by several travellers with different points of departure and destinations, is a complex multiagent problem that requires taking into account individual agents'…
Multi-agent path planning (MAPP) in continuous spaces is a challenging problem with significant practical importance. One promising approach is to first construct graphs approximating the spaces, called roadmaps, and then apply multi-agent…
This paper addresses a generalization of the well known multi-agent path finding (MAPF) problem that optimizes multiple conflicting objectives simultaneously such as travel time and path risk. This generalization, referred to as…
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…
Using an enhanced Self-Organizing Map method, we provided suboptimal solutions to the Traveling Salesman Problem. Besides, we employed hyperparameter tuning to identify the most critical features in the algorithm. All improvements in the…