Related papers: Clique Analysis and Bypassing in Continuous-Time C…
In many operational applications, it is necessary to routinely find, within a very limited time window, provably good solutions to challenging mixed-integer linear programming (MILP) problems. An example is the Security-Constrained Unit…
We consider multi-agent transport task problems where, e.g. in a factory setting, items have to be delivered from a given start to a goal pose while the delivering robots need to avoid collisions with each other on the floor. We introduce a…
Multi-Agent Path Finding (MAPF) is a problem of finding a sequence of movements for agents to reach their assigned location without collision. Centralized algorithms usually give optimal solutions, but have difficulties to scale without…
Among sub-optimal MAPF solvers, rule-based algorithms are particularly appealing since they are complete. Even in crowded scenarios, they allow finding a feasible solution that brings each agent to its target, preventing deadlock…
We present a novel framework for addressing the challenges of multi-Agent planning and formation control within intricate and dynamic environments. This framework transforms the Multi-Agent Path Finding (MAPF) problem into a Multi-Agent…
In multi-agent applications such as surveillance and logistics, fleets of mobile agents are often expected to coordinate and safely visit a large number of goal locations as efficiently as possible. The multi-agent planning problem in these…
The Coalition Formation with Spatial and Temporal constraints Problem (CFSTP) is a multi-agent task scheduling problem where the tasks are spatially distributed, with deadlines and workloads, and the number of agents is typically much…
Recent work introduced the cube-and-conquer technique to solve hard SAT instances. It partitions the search space into cubes using a lookahead solver. Each cube is tackled by a conflict-driven clause learning (CDCL) solver. Crucial for…
Clique is one of the most fundamental models for cohesive subgraph mining in network analysis. Existing clique model mainly focuses on unsigned networks. However, in real world, many applications are modeled as signed networks with positive…
In this work, we systematically examine the application of spatio-temporal splitting heuristics to the Multi-Robot Motion Planning (MRMP) problem in a graph-theoretic setting: a problem known to be NP-hard to optimally solve. Following the…
In multi-agent path finding (MAPF), the task is to find non-conflicting paths for multiple agents from their initial positions to given individual goal positions. MAPF represents a classical artificial intelligence problem often addressed…
The Multi-agent Path Finding (MAPF) problem involves finding collision-free paths for a team of agents in a known, static environment, with important applications in warehouse automation, logistics, or last-mile delivery. To meet the needs…
This paper studies a new online problem, referred to as \emph{min-cost perfect matching with delays (MPMD)}, defined over a finite metric space (i.e., a complete graph with positive edge weights obeying the triangle inequality)…
We study prioritized planning for Multi-Agent Path Finding (MAPF). Existing prioritized MAPF algorithms depend on rule-of-thumb heuristics and random assignment to determine a fixed total priority ordering of all agents a priori. We instead…
We propose a simple, powerful, and flexible machine learning framework for (i) reducing the search space of computationally difficult enumeration variants of subset problems and (ii) augmenting existing state-of-the-art solvers with…
This paper attempts to derive a mathematical formulation for real-practice clinical laboratory schedul-ing, and to present a syntactic adaptive problem solver by leveraging landscape structures. After formulating scheduling of medical tests…
Guidance is an emerging concept that improves the empirical performance of real-time, sub-optimal multi-agent pathfinding (MAPF) methods. It offers additional information to MAPF algorithms to mitigate congestion on a global scale by…
A conflict graph represents logical relations between binary variables, and effective use of the graph can significantly accelerate branch-and-cut solvers for mixed-integer programming (MIP). In this paper we develop efficient parallel…
Multi-Agent Combinatorial Path Finding (MCPF) seeks collision-free paths for multiple agents from their initial locations to destinations, visiting a set of intermediate target locations in the middle of the paths, while minimizing the sum…
Constraint Optimization Problems (COP) pose intricate challenges in combinatorial problems usually addressed through Branch and Bound (B\&B) methods, which involve maintaining priority queues and iteratively selecting branches to search for…