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Many multi-robot applications require tasks to be completed efficiently and in the correct order, so that downstream operations can proceed at the right time. Multi-agent path finding with precedence constraints (MAPF-PC) is a well-studied…
Among sub-optimal Multi-Agent Path Finding (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,…
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,…
Multi-agent pathfinding (MAPF) is the problem of finding collision-free paths for a team of agents on a map. Although MAPF is NP-hard, the hardness of solving individual instances varies significantly, revealing a gap between theoretical…
The Multi-Agent Path Finding (MAPF) problem aims to determine the shortest and collision-free paths for multiple agents in a known, potentially obstacle-ridden environment. It is the core challenge for robotic deployments in large-scale…
We study a graph pathfinding problem Distance-$r$ Independent Unlabeled Multi-Agent Pathfinding, finding a set of collision-free paths between two sets where agents must stay at pairwise distance at least $r+1$ at all times. This additional…
We tackle the challenging problem of multi-agent cooperative motion planning for complex tasks described using signal temporal logic (STL), where robots can have nonlinear and nonholonomic dynamics. Existing methods in multi-agent motion…
Interactions between two entities often occur at specific timestamps, which can be modeled as a temporal graph. Exploring the relationships between vertices based on temporal paths is one of the fundamental tasks. In this paper, we conduct…
Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics and AI, with numerous applications in real-world scenarios. One such scenario is filming scenes with multiple actors, where the goal is to capture the scene from multiple…
Multi-Agent Path Finding (MAPF) has gained significant attention, with most research focusing on minimizing collisions and travel time. This paper also considers energy consumption in the path planning of automated guided vehicles (AGVs).…
Multi-Agent Path Finding (MAPF) focuses on determining conflict-free paths for multiple agents navigating through a shared space to reach specified goal locations. This problem becomes computationally challenging, particularly when handling…
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…
We formalize the problem of 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 a given deadline, without…
This paper presents a decentralized multi-agent trajectory planning (MATP) algorithm that guarantees to generate a safe, deadlock-free trajectory in an obstacle-rich environment under a limited communication range. The proposed algorithm…
Multi-Agent Motion Planning (MAMP) is the problem of computing feasible paths for a set of agents given individual start and goal states. Given the hardness of MAMP, most of the research related to multi-agent systems has focused on…
To plan the trajectories of a large-scale heterogeneous swarm, sequentially or synchronously distributed methods usually become intractable due to the lack of global clock synchronization. To this end, we provide a novel asynchronous…
Distributing computations among agents in large networks reduces computational effort in multi-agent path finding (MAPF). One distribution strategy is prioritized planning (PP). In PP, we couple and prioritize interacting agents to achieve…
In this work, we consider the Multi-Agent Pickup-and-Delivery (MAPD) problem, where agents constantly engage with new tasks and need to plan collision-free paths to execute them. To execute a task, an agent needs to visit a pair of goal…
In structured multi-agent transportation systems, agents often must follow predefined routes, making spatial rerouting undesirable or impossible. This paper addresses route-constrained multi-agent coordination by optimizing waypoint passage…
In the multi-agent path finding (MAPF) problem, a group of agents search in a graph for a path for each agent where no two paths collide. While in all applications of MAPF the agents must not collide with each other, in some of them the…