Related papers: Multi-Agent Path Finding with Continuous Time Usin…
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…
Satisfiability problem (SAT) is a cornerstone of computational complexity with broad industrial applications, and it remains challenging to optimize modern SAT solvers in real-world settings due to their intricate architectures. While…
Multi-Agent Path Finding has been widely studied in the past few years due to its broad application in the field of robotics and AI. However, previous solvers rely on several simplifying assumptions. They limit their applicability in…
In this work we present a novel approach to solving concurrent multiagent planning problems in which several agents act in parallel. Our approach relies on a compilation from concurrent multiagent planning to classical planning, allowing us…
Multi-agent path planning (MAPP) is the problem of planning collision-free trajectories from start to goal locations for a team of agents. This work explores a relatively unexplored setting of MAPP where streams of agents have to go through…
We formalize Multi-Agent Path Finding with Deadlines (MAPF-DL). The objective is to maximize the number of agents that can reach their given goal vertices from their given start vertices within the deadline, without colliding with each…
Multi-Agent Path Finding (MAPF) finds conflict-free paths for multiple agents from their respective start to goal locations. MAPF is challenging as the joint configuration space grows exponentially with respect to the number of agents.…
We investigate the domain of satisfiable formulas in satisfiability modulo theories (SMT), in particular, automatic generation of a multitude of satisfying assignments to such formulas. Despite the long and successful history of SMT in…
Multi-Agent Path Finding (MAPF) is the problem of moving a team of agents to their goal locations without collisions. In this paper, we study the lifelong variant of MAPF, where agents are constantly engaged with new goal locations, such as…
Existing multi-agent path finding (MAPF) solvers do not account for uncertain behavior of uncontrollable agents. We present a novel variant of Enhanced Conflict-Based Search (ECBS), for both one-shot and lifelong MAPF in dynamic…
Multi-Agent Path Finding (MAPF) is the problem of moving multiple agents from starts to goals without collisions. Lifelong MAPF (LMAPF) extends MAPF by continuously assigning new goals to agents. We present our winning approach to the 2023…
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…
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…
Resource sharing is a crucial part of a multi-robot system. We propose a Boolean satisfiability based approach to resource sharing. Our key contributions are an algorithm for converting any constrained assignment to a weighted-SAT based…
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…
This work focuses on effectively generating diverse solutions for satisfiability modulo theories (SMT) formulas, targeting the theories of bit-vectors, arrays, and uninterpreted functions, which is a critical task in software and hardware…
One of the main challenges in multi-agent reinforcement learning is scalability as the number of agents increases. This issue is further exacerbated if the problem considered is temporally dependent. State-of-the-art solutions today mainly…
The utility of satisfiability (SAT) as an application focused hard computational problem is well established. We explore the potential of quantum annealing to enhance classical SAT solving, especially where sampling from the space of all…
In the Multi-Agent Path Finding (MAPF) problem, the goal is to find non-colliding paths for agents in an environment, such that each agent reaches its goal from its initial location. In safety-critical applications, a human supervisor may…
We consider an Anonymous Multi-Agent Path-Finding (AMAPF) problem where the set of agents is confined to a graph, a set of goal vertices is given and each of these vertices has to be reached by some agent. The problem is to find an…