Related papers: Graph Coloring to Reduce Computation Time in Prior…
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…
In this paper, we consider distributed coloring for planar graphs with a small number of colors. We present an optimal (up to a constant factor) $O(\log{n})$ time algorithm for 6-coloring planar graphs. Our algorithm is based on a novel…
Multi-Agent Path Finding (MAPF) aims to move agents from their start to goal vertices on a graph. Lifelong MAPF (LMAPF) continuously assigns new goals to agents as they complete current ones. To guide agents' movement in LMAPF, prior works…
Irregular computations on unstructured data are an important class of problems for parallel programming. Graph coloring is often an important preprocessing step, e.g. as a way to perform dependency analysis for safe parallel execution. The…
Urban intersections are prone to delays and inefficiencies due to static precedence rules and occlusions limiting the view on prioritized traffic. Existing approaches to improve traffic flow, widely known as automatic intersection…
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…
The paper addresses large-scale, convex optimization problems that need to be solved in a distributed way by agents communicating according to a random time-varying graph. Specifically, the goal of the network is to minimize the sum of…
We provide novel deterministic distributed vertex coloring algorithms. As our main result, we give a deterministic distributed algorithm to compute a $(\Delta+1)$-coloring of an $n$-node graph with maximum degree $\Delta$ in…
We study the computational complexity of multi-agent path finding (MAPF). Given a graph $G$ and a set of agents, each having a start and target vertex, the goal is to find collision-free paths minimizing the total distance traveled. To…
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…
We consider a Multi-Agent Path Finding (MAPF) setting where agents have been assigned a plan, but during its execution some agents are delayed. Instead of replanning from scratch when such a delay occurs, we propose delay introduction,…
In this article we introduce Graph Generation, an enhanced Column Generation (CG) algorithm for solving expanded linear programming relaxations of mixed integer linear programs. To apply Graph Generation, we must be able to map any given…
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,…
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…
Multi-Agent Path Finding (MAPF) is a problem of finding a sequence of movements for agents to reach their assigned location without collision. Centralized algorithms usually give optimal solutions, but have difficulties to scale without…
We propose an optimal algorithm for solving the longest path problem in undirected weighted graphs. By using graph partitioning and dynamic programming, we obtain an algorithm that is significantly faster than other state-of-the-art…
This work considers the distributed computation of the one-to-one vertex correspondences between two undirected and connected graphs, which is called \textit{graph matching}, over multi-agent networks. Given two \textit{isomorphic} and…
This paper explores the application of a new algebraic method of edge coloring, called complex coloring, to the scheduling problems of input queued switches. The proposed distributed parallel scheduling algorithm possesses two important…
This paper proposes FMAP (Forward Multi-Agent Planning), a fully-distributed multi-agent planning method that integrates planning and coordination. Although FMAP is specifically aimed at solving problems that require cooperation among…
Multi-Agent Path Finding (MAPF) focuses on planning collision-free paths for multiple agents. However, during the execution of a MAPF plan, agents may encounter unexpected delays, which can lead to inefficiencies, deadlocks, or even…