Related papers: A Real-Time Rescheduling Algorithm for Multi-robot…

Path planning algorithms, such as the search-based A*, are a critical component of autonomous mobile robotics, enabling robots to navigate from a starting point to a destination efficiently and safely. We investigated the resilience of the…

Standard algorithms for reachability analysis of timed automata are sensitive to the order in which the transitions of the automata are taken. To tackle this problem, we propose a ranking system and a waiting strategy. This paper discusses…

Efficient coordination and planning is essential for large-scale multi-agent systems that collaborate in a shared dynamic environment. Heuristic search methods or learning-based approaches often lack the guarantee on correctness and…

Resilience against major disasters is the most essential characteristic of future electrical distribution systems (EDS). A multi-agent-based rolling optimization method for EDS restoration scheduling is proposed in this paper. When a…

In this paper, we study the one-shot and lifelong versions of the Target Assignment and Path Finding problem in automated sortation centers, where each agent needs to constantly assign itself a sorting station, move to its assigned station…

In Multiagent Path Finding (MAPF), the goal is to compute efficient, collision-free paths for multiple agents navigating a network from their sources to targets, minimizing the schedule's makespan-the total time until all agents reach their…

We study a novel graph path planning problem for multiple agents that may crash at runtime, and block part of the workspace. In our setting, agents can detect neighboring crashed agents, and change followed paths at runtime. The objective…

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…

This paper studies the problem of multi-agent trajectory prediction in crowded unknown environments. A novel energy function optimization-based framework is proposed to generate prediction trajectories. Firstly, a new energy function is…

Multi-Agent Pathfinding (MAPF) is the problem of finding paths for multiple agents such that every agent reaches its goal and the agents do not collide. Most prior work on MAPF was on grids, assumed agents' actions have uniform duration,…

Complex scheduling problems require a large amount computation power and innovative solution methods. The objective of this paper is the conception and implementation of a multi-agent system that is applicable in various problem domains.…

When users work with AI agents, they form conscious or subconscious expectations of them. Meeting user expectations is crucial for such agents to engage in successful interactions and teaming. However, users may form expectations of an…

Path finding problems involve identification of a plan for conflict free movement of agents over a common road network. Most approaches to this problem handle the agents as point objects, wherein the size of the agent is significantly…

Mobile edge computing (MEC) emerges as a promising solution for servicing delay-sensitive tasks at the edge network. A body of recent literature started to focus on cost-efficient service placement and request scheduling. This work…

We consider the problem of multiple agents or robots searching for a target in the plane. This is motivated by Search and Rescue operations (SAR) in the high seas which in the past were often performed with several vessels, and more…

We consider a large-scale multi-robot path planning problem in a cluttered environment. Our approach achieves real-time replanning by dividing the workspace into cells and utilizing a hierarchical planner. Specifically, we propose novel…

In this paper we consider multiple Automated Guided Vehicles (AGVs) navigating a common workspace to fulfill various intralogistics tasks, typically formulated as the Multi-Agent Path Finding (MAPF) problem. To keep plan execution…

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 routing problems have gained significant attention recently due to their wide range of industrial applications, ranging from logistics warehouse automation to indoor service robots. Conventionally, they are modeled as classical…

Multi-Agent Path Finding (MAPF) is the problem of finding collision-free paths for multiple agents from their start locations to end locations. We consider an extension to this problem, Precedence Constrained Multi-Agent Path Finding…