Related papers: Coordinated Motion Planning: Multi-Agent Path Find…
Constrained motion planning is a challenging field of research, aiming for computationally efficient methods that can find a collision-free path on the constraint manifolds between a given start and goal configuration. These planning…
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…
This paper connects multi-agent path planning on graphs (roadmaps) to network flow problems, showing that the former can be reduced to the latter, therefore enabling the application of combinatorial network flow algorithms, as well as…
The problem of mixed static and dynamic obstacle avoidance is essential for path planning in highly dynamic environment. However, the paths formed by grid edges can be longer than the true shortest paths in the terrain since their headings…
In this paper, we plan missions for a fleet of agents in undirected graphs, such as grids, with multiple goals. In contrast to regular multi-agent path-finding, the solver finds and updates the assignment of goals to the agents on its own.…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
We apply a novel framework for decomposing and reasoning about free space in an environment to a multi-agent persistent monitoring problem. Our decomposition method represents free space as a collection of ellipsoids associated with a…
The 2D Multi-Agent Path Finding (MAPF) problem aims at finding collision-free paths for a number of agents, from a set of start locations to a set of goal positions in a known 2D environment. MAPF has been studied in theoretical computer…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
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…
Conflict-Based Search is one of the most popular methods for multi-agent path finding. Though it is complete and optimal, it does not scale well. Recent works have been proposed to accelerate it by introducing various heuristics. However,…
Real-world multi-agent systems such as warehouse robots operate under significant time constraints -- in such settings, rather than spending significant amounts of time solving for optimal paths, it is instead preferable to find valid…
In this work we study a well-known and challenging problem of Multi-agent Pathfinding, when a set of agents is confined to a graph, each agent is assigned a unique start and goal vertices and the task is to find a set of collision-free…
This paper deals with motion planning for multiple agents by representing the problem as a simultaneous optimization of every agent's trajectory. Each trajectory is considered as a sample from a one-dimensional continuous-time Gaussian…
When a team of agents, such as unmanned aerial/underwater vehicles, are operating in $3$-dimensional space, their coordinated action in pursuit of a cooperative task generally requires all agents to either share a common coordinate system…
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…
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…
Path planning is an important component in any highly automated vehicle system. In this report, the general problem of path planning is considered first in partially known static environments where only static obstacles are present but the…
Conventional multi-agent path planners typically determine a path that optimizes a single objective, such as path length. Many applications, however, may require multiple objectives, say time-to-completion and fuel use, to be simultaneously…
The multi-agent path finding (MAPF) problem is a combinatorial search problem that aims at finding paths for multiple agents (e.g., robots) in an environment (e.g., an autonomous warehouse) such that no two agents collide with each other,…