Related papers: Scalable Mechanism Design for Multi-Agent Path Fin…
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…
In open agent systems, the set of agents that are cooperating or competing changes over time and in ways that are nontrivial to predict. For example, if collaborative robots were tasked with fighting wildfires, they may run out of…
Distributed Multi-Agent Path Finding (MAPF) integrated with Multi-Agent Reinforcement Learning (MARL) has emerged as a prominent research focus, enabling real-time cooperative decision-making in partially observable environments through…
Multi-agent navigation in dynamic environments is of great industrial value when deploying a large scale fleet of robot to real-world applications. This paper proposes a decentralized partially observable multi-agent path planning with…
The problem of Multi-agent Path Finding (MAPF) consists in providing agents with efficient paths while preventing collisions. Numerous solvers have been developed so far since MAPF is critical for practical applications such as automated…
Existing methods for safe multi-agent control using logic specifications like Signal Temporal Logic (STL) often face scalability issues. This is because they rely either on single-agent perspectives or on Mixed Integer Linear Programming…
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…
Many real-world scenarios require multiple agents to coordinate in shared environments, while balancing trade-offs between multiple, potentially competing objectives. Current multi-objective multi-agent path finding (MO-MAPF) algorithms…
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,…
The paper considers the problem of planning a set of non-conflict trajectories for the coalition of intelligent agents (mobile robots). Two divergent approaches, e.g. centralized and decentralized, are surveyed and analyzed. Decentralized…
We study two state-of-the-art solutions to the multi-agent pickup and delivery (MAPD) problem based on different principles -- multi-agent path-finding (MAPF) and multi-agent reinforcement learning (MARL). Specifically, a recent MAPF…
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…
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…
We discuss milestones on the tour towards DPLL(MAPF), a multi-agent path finding (MAPF) solver fully integrated with the Davis-Putnam-Logemann-Loveland (DPLL) propositional satisfiability testing algorithm through satisfiability modulo…
Multi-Agent Path Finding (MAPF) poses a significant and challenging problem critical for applications in robotics and logistics, particularly due to its combinatorial complexity and the partial observability inherent in realistic…
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…
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…
In cooperative Multi-Agent Planning (MAP), a set of goals has to be achieved by a set of agents. Independently of whether they perform a pre-assignment of goals to agents or they directly search for a solution without any goal assignment,…
Traditional multi-agent path finding (MAPF) methods try to compute entire start-goal paths which are collision free. However, computing an entire path can take too long for MAPF systems where agents need to replan fast. Methods that address…