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Multi-agent pathfinding (MAPF) is a common abstraction of multi-robot trajectory planning problems, where multiple homogeneous robots simultaneously move in the shared environment. While solving MAPF optimally has been proven to be NP-hard,…
Symmetry plays a major role in subgraph matching both in the description of the graphs in question and in how it confounds the search process. This work addresses how to quantify these effects and how to use symmetries to increase the…
We consider the problem of online min-cost perfect matching with concave delays. We begin with the single location variant. Specifically, requests arrive in an online fashion at a single location. The algorithm must then choose between…
Motion planning problems for physically-coupled multi-robot systems in cluttered environments are challenging due to their high dimensionality. Existing methods combining sampling-based planners with trajectory optimization produce…
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.…
While static symmetry breaking has been explored in the SAT community for decades, only as of 2010 research has focused on exploiting the same discovered symmetry dynamically, during the run of the SAT solver, by learning extra clauses. The…
Recently, Large Language Models (LLMs) have demonstrated remarkable advancements in Natural Language Processing (NLP). However, generating high-quality text that balances coherence, diversity, and relevance remains challenging. Traditional…
Object rearrangement planning in complex, cluttered environments is a common challenge in warehouses, households, and rescue sites. Prior studies largely address monotone instances, whereas real-world tasks are often non-monotone-objects…
Large Language Models (LLMs) impose massive computational demands, driving the need for scalable multi-chiplet accelerators. However, existing mapping space exploration efforts for such accelerators primarily focus on traditional…
We present CYCLADES, a general framework for parallelizing stochastic optimization algorithms in a shared memory setting. CYCLADES is asynchronous during shared model updates, and requires no memory locking mechanisms, similar to…
The maximum covering location problem (MCLP) is a key problem in facility location, with many applications and variants. One such variant is the dynamic (or multi-period) MCLP, which considers the installation of facilities across multiple…
Safe navigation is essential for autonomous systems operating in hazardous environments, especially when multiple agents must coordinate using only high-dimensional visual observations. While recent approaches successfully combine…
The maximum clique problem is a well known NP-Hard problem with applications in data mining, network analysis, information retrieval and many other areas related to the World Wide Web. There exist several algorithms for the problem with…
This paper describes an extension to the constraint satisfaction problem (CSP) called MUSE CSP (MUltiply SEgmented Constraint Satisfaction Problem). This extension is especially useful for those problems which segment into multiple sets of…
Multi-Agent Path Finding (MAPF), which involves finding collision-free paths for multiple robots, is crucial in various applications. Lifelong MAPF, where targets are reassigned to agents as soon as they complete their initial targets,…
In this paper, we consider the multiple probabilistic covering location problem (MPCLP), which attempts to open a fixed number of facilities to maximize the total covered customer demand under a joint probabilistic coverage setting. We…
The NP-hard scheduling problem P||C_max encompasses a set of tasks with known execution time which must be mapped to a set of identical machines such that the overall completion time is minimized. In this work, we improve existing…
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…
The contextual multi-armed bandit (MAB) problem is crucial in sequential decision-making. A line of research, known as online clustering of bandits, extends contextual MAB by grouping similar users into clusters, utilizing shared features…
Finding near-optimal solutions for dense multi-agent pathfinding (MAPF) problems in real-time remains challenging even for state-of-the-art planners. To this end, we develop a hybrid framework that integrates a learned heuristic derived…