Related papers: No Panacea in Planning: Algorithm Selection for Su…
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…
Learning-based methods are increasingly popular for search algorithms in single-criterion optimization problems. In contrast, for multiple-criteria optimization there are significantly fewer approaches despite the existence of numerous…
The objective function used in trajectory optimization is often non-convex and can have an infinite set of local optima. In such cases, there are diverse solutions to perform a given task. Although there are a few methods to find multiple…
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,…
Conflict-Based Search (CBS) is a widely used algorithm for solving multi-agent pathfinding (MAPF) problems optimally. The core idea of CBS is to run hierarchical search, when, on the high level the tree of solutions candidates is explored,…
We investigate multi-agent navigation tasks, where multiple agents need to reach initially unassigned goals in a limited time. Classical planning-based methods suffer from expensive computation overhead at each step and offer limited…
In this paper, we consider the problem of path finding for a set of homogeneous and autonomous agents navigating a previously unknown stochastic environment. In our problem setting, each agent attempts to maximize a given utility function…
Intelligent interaction with the real world requires robotic agents to jointly reason over high-level plans and low-level controls. Task and motion planning (TAMP) addresses this by combining symbolic planning and continuous trajectory…
Hard optimisation problems such as Boolean Satisfiability typically have long solving times and can usually be solved by many algorithms, although the performance can vary widely in practice. Research has shown that no single algorithm…
Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to build shorter paths to the goal. Indeed, optimal algorithms…
Multi-Agent Path Finding (MAPF) is the problem of finding a collection of collision-free paths for a team of multiple agents while minimizing some global cost, such as the sum of the time travelled by all agents, or the time travelled by…
Multi-Agent Path Finding (MAPF) is essential to large-scale robotic systems. Recent methods have applied reinforcement learning (RL) to learn decentralized polices in partially observable environments. A fundamental challenge of obtaining…
We present a multi-scale forward search algorithm for distributed agents to solve single-query shortest path planning problems. Each agent first builds a representation of its own search space of the common environment as a multi-resolution…
Multi-agent pathfinding (MAPF) under one-shot planning is a core component of warehouse automation, yet classical formulations typically assume four-connected 2D grids with unit-time moves in four directions. To fill reality gaps while…
PIBT is a rule-based Multi-Agent Path Finding (MAPF) solver, widely used as a low-level planner or action sampler in many state-of-the-art approaches. Its primary advantage lies in its exceptional speed, enabling action selection for…
The primary objective of Multi-Agent Pathfinding (MAPF) is to plan efficient and conflict-free paths for all agents. Traditional multi-agent path planning algorithms struggle to achieve efficient distributed path planning for multiple…
The research area of algorithms with predictions has seen recent success showing how to incorporate machine learning into algorithm design to improve performance when the predictions are correct, while retaining worst-case guarantees when…
Multi-Agent Path Finding (MAPF) in crowded environments presents a challenging problem in motion planning, aiming to find collision-free paths for all agents in the system. MAPF finds a wide range of applications in various domains,…
Anytime multi-agent path finding (MAPF) is a promising approach to scalable path optimization in large-scale multi-agent systems. State-of-the-art anytime MAPF is based on Large Neighborhood Search (LNS), where a fast initial solution is…
Multi-Robot-Arm Motion Planning (M-RAMP) is a challenging problem featuring complex single-agent planning and multi-agent coordination. Recent advancements in extending the popular Conflict-Based Search (CBS) algorithm have made large…