Related papers: CBS with Continuous-Time Revisit
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…
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…
Multi-Agent Path Finding (MAPF), i.e., finding collision-free paths for multiple robots, is important for many applications where small runtimes are necessary, including the kind of automated warehouses operated by Amazon. CBS is a leading…
Multi-agent pathfinding (MAPF) is the problem of finding a set of conflict-free paths for a set of agents. Typically, the agents' moves are limited to a pre-defined graph of possible locations and allowed transitions between them, e.g. a…
The Meta-Agent Conflict-Based Search~(MA-CBS) is a recently proposed algorithm for the multi-agent path finding problem. The algorithm is an extension of Conflict-Based Search~(CBS), which automatically merges conflicting agents into…
With the expansion of the scale of robotics applications, the multi-goal multi-agent pathfinding (MG-MAPF) problem began to gain widespread attention. This problem requires each agent to visit pre-assigned multiple goal points at least once…
Multi-agent coordination in automated warehouses and logistics is commonly modeled as the Multi-Agent Path Finding (MAPF) problem. Closed-loop MAPF algorithms improve scalability by planning only the next movement and replanning online, but…
Multi-agent Path Finding (MAPF) is the problem of planning collision-free movements of agents so that they get from where they are to where they need to be. Commonly, agents are located on a graph and can traverse edges. This problem has…
Conflict-Based Search (CBS) algorithm for the multi-agent pathfinding (MAPF) problem is that it is incomplete for problems which have no solution; if no mitigating procedure is run in parallel, CBS will run forever when given an unsolvable…
MAPF is a core coordination problem for large robot fleets in automated warehouses and logistics. Existing approaches are typically either open-loop planners, which generate fixed trajectories and struggle to handle disturbances, or…
During Multi-Agent Path Finding (MAPF) problems, agents can be delayed by unexpected events. To address such situations recent work describes k-Robust Conflict-BasedSearch (k-CBS): an algorithm that produces coordinated and collision-free…
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…
This paper addresses a generalization of the well known multi-agent path finding (MAPF) problem that optimizes multiple conflicting objectives simultaneously such as travel time and path risk. This generalization, referred to as…
We study a variant of the multi-agent path finding problem (MAPF) in which agents are required to remain connected to each other and to a designated base. This problem has applications in search and rescue missions where the entire…
In this article, we address the problem of collaborative task assignment, sequencing, and multi-agent pathfinding (TSPF), where a team of agents must visit a set of task locations without collisions while minimizing flowtime. TSPF…
Multi-robot systems are integral to modern logistics, but their capabilities are often limited to tasks executable by individual agents. This paper addresses a critical gap in existing frameworks like Multi-Agent Path Finding (MAPF) and…
Multi-Agent Path Finding (MAPF) is a challenging combinatorial problem that asks us to plan collision-free paths for a team of cooperative agents. In this work, we show that one of the reasons why MAPF is so hard to solve is due to a…
Conflict-Based Search (CBS) is a popular framework for solving the Multi-Agent Path Finding problem. Some of the conflicts incur a foreseeable conflict in one or both of the children nodes when splitting on them. This paper introduces a new…
Multi-Agent Combinatorial Path Finding (MCPF) seeks collision-free paths for multiple agents from their initial locations to destinations, visiting a set of intermediate target locations in the middle of the paths, while minimizing the sum…
Multi-Agent Path Finding (MAPF) involves finding collision-free paths for multiple agents while minimizing a cost function--an NP-hard problem. Bounded suboptimal methods like Enhanced Conflict-Based Search (ECBS) and Explicit Estimation…