Related papers: Fine-Grained Complexity Analysis of Multi-Agent Pa…
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…
This paper proposes a novel planning framework to handle a multi-agent pathfinding problem under team-connected communication constraint, where all agents must have a connected communication channel to the rest of the team during their…
Consider the scenario where multiple agents have to move in an optimal way through a network, each one towards their ending position while avoiding collisions. By optimal, we mean as fast as possible, which is evaluated by a measure known…
We study a dynamic version of multi-agent path finding problem (called D-MAPF) where existing agents may leave and new agents may join the team at different times. We introduce a new method to solve D-MAPF based on conflict-resolution. The…
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…
The primary objective of Multi-Agent Pathfinding (MAPF) is to plan efficient and conflict-free paths for all agents. Traditional multi-agent path planning algorithms struggle to achieve efficient distributed path planning for multiple…
We propose a distributed planning method with asynchronous execution for multi-agent pickup and delivery (MAPD) problems for environments with occasional delays in agents' activities and flexible endpoints. MAPD is a crucial problem…
Anticipating possible future deployment of connected and automated vehicles (CAVs), cooperative autonomous driving at intersections has been studied by many works in control theory and intelligent transportation across decades.…
Avoiding collisions is one of the vital tasks for systems of autonomous mobile agents. We focus on the problem of finding continuous coordinated paths for multiple mobile disc agents in a 2-d environment with polygonal obstacles. The…
This paper addresses a generalization problem of Multi-Agent Pathfinding (MAPF), called Collaborative Task Sequencing - Multi-Agent Pathfinding (CTS-MAPF), where agents must plan collision-free paths and visit a series of intermediate task…
As industries increasingly adopt large robotic fleets, there is a pressing need for computationally efficient, practical, and optimal conflict-free path planning for multiple robots. Conflict-Based Search (CBS) is a popular method for…
Modern Multi-Agent Path Finding (MAPF) algorithms must plan for hundreds to thousands of agents in congested environments within a second, requiring highly efficient algorithms. Priority Inheritance with Backtracking (PIBT) is a popular…
Multi-Agent Pickup and Delivery (MAPD) is a fundamental problem in robotics, particularly in applications such as warehouse automation and logistics. Existing solutions often face challenges in scalability, adaptability, and efficiency,…
We study a novel graph path planning problem for multiple agents that may crash at runtime, and block part of the workspace. In our setting, agents can detect neighboring crashed agents, and change followed paths at runtime. The objective…
In cooperative pathfinding problems, no-conflicts paths that bring several agents from their start location to their destination need to be planned. This problem can be efficiently solved by Multi-agent RRT*(MA-RRT*) algorithm, which is…
We study a fundamental NP-hard motion coordination problem for multi-robot/multi-agent systems: We are given a graph $G$ and set of agents, where each agent has a given directed path in $G$. Each agent is initially located on the first…
Multi-agent path finding (MAPF) determines an ensemble of collision-free paths for multiple agents between their respective start and goal locations. Among the available MAPF planners for workspace modeled as a graph, A*-based approaches…
Multi-Agent Path Finding (MAPF) algorithms are increasingly deployed in industrial warehouses and automated manufacturing facilities, where robots must operate reliably under real-world physical constraints. However, existing MAPF…
Cooperative path-finding in multi-agent systems demands scalable solutions to navigate agents from their origins to destinations without conflict. Despite the breadth of research, scalability remains hampered by increased computational…
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…