Related papers: A parallelizable variant of HCA*

Model merging has emerged as an effective approach to combine multiple single-task models into a multitask model. This process typically involves computing a weighted average of the model parameters without any additional training. Existing…

Multi-agent planning (MAP) approaches have been typically conceived for independent or loosely-coupled problems to enhance the benefits of distributed planning between autonomous agents as solving this type of problems require less…

Multi-agent path finding (MAPF) is an active area in artificial intelligence, which has many real-world applications such as warehouse management, traffic control, robotics, etc. Recently, M* and its variants have greatly improved the…

Coordinating multiple autonomous agents to reach a target region while avoiding collisions and maintaining communication connectivity is a core problem in multi-agent systems. In practice, agents have a limited communication range. Thus,…

Heuristic search algorithms, e.g. A*, are the commonly used tools for pathfinding on grids, i.e. graphs of regular structure that are widely employed to represent environments in robotics, video games etc. Instance-independent heuristics…

The Multi-Objective Shortest-Path (MOS) problem finds a set of Pareto-optimal solutions from a start node to a destination node in a multi-attribute graph. The literature explores multi-objective A*-style algorithmic approaches to solving…

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 is used in areas including multi-robot formations, warehouse logistics, and intelligent vehicles. However, many environments are incomplete or frequently change, making it difficult for standard centralized planning…

Cooperative path planning, a crucial aspect of multi-agent systems research, serves a variety of sectors, including military, agriculture, and industry. Many existing algorithms, however, come with certain limitations, such as simplified…

Safety is a critical concern for urban flights of autonomous Unmanned Aerial Vehicles. In populated environments, risk should be accounted for to produce an effective and safe path, known as risk-aware path planning. Risk-aware path…

Multi-agent motion planning (MAMP) is a critical challenge in applications such as connected autonomous vehicles and multi-robot systems. In this paper, we propose a space-time conflict resolution approach for MAMP. We formulate the problem…

Path planning is one of the most vital elements of mobile robotics. With a priori knowledge of the environment, global path planning provides a collision-free route through the workspace. The global path plan can be calculated with a…

In the Multi-Agent Path Finding (MAPF) problem, a set of agents moving on a graph must reach their own respective destinations without inter-agent collisions. In practical MAPF applications such as navigation in automated warehouses, where…

While Agent-Based Models can create detailed artificial societies based on individual differences and local context, they can be computationally intensive. Modelers may offset these costs through a parsimonious use of the model, for example…

We consider a linear stochastic bandit problem involving $M$ agents that can collaborate via a central server to minimize regret. A fraction $\alpha$ of these agents are adversarial and can act arbitrarily, leading to the following tension:…

Multi-Agent Path Finding (MAPF) is an important optimization problem underlying the deployment of robots in automated warehouses and factories. Despite the large body of work on this topic, most approaches make heavy simplifications, both…

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…

A critical challenge in multi-agent reinforcement learning(MARL) is for multiple agents to efficiently accomplish complex, long-horizon tasks. The agents often have difficulties in cooperating on common goals, dividing complex tasks, and…

Heuristic search-based motion planning algorithms typically discretise the search space in order to solve the shortest path problem. Their performance is closely related to this discretisation. A fine discretisation allows for better…

This paper presents a "cooperative vehicle sorting" strategy that seeks to optimally sort connected and automated vehicles (CAVs) in a multi-lane platoon to reach an ideally organized platoon. In the proposed method, a CAV platoon is…