Related papers: A Multiagent Path Search Algorithm for Large-Scale…
Despite many distributed resource allocation (DRA) algorithms have been reported in literature, it is still unknown how to allocate the resource optimally over multiple interacting coalitions. One major challenge in solving such a problem…
We give a column generation based branch and bound algorithm for coalition structure generation over graphs problem using valuation functions for which this problem is proven to be NP-complete. For a given graph G = (V;E) and a valuation…
Multi-agent pathfinding (MAPF) traditionally focuses on collision avoidance, but many real-world applications require active coordination between agents to improve team performance. This paper introduces Team Coordination on Graphs with…
We present a modular Bayesian optimization framework that efficiently generates time-optimal trajectories for a cooperative multi-agent system, such as a team of UAVs. Existing methods for multi-agent trajectory generation often rely on…
Path planning plays an important role in autonomous robot systems. Effective understanding of the surrounding environment and efficient generation of optimal collision-free path are both critical parts for solving path planning problem.…
Cooperative pathfinding is a problem of finding a set of non-conflicting trajectories for a number of mobile agents. Its applications include planning for teams of mobile robots, such as autonomous aircrafts, cars, or underwater vehicles.…
Multiagent reinforcement learning (MARL) can solve complex cooperative tasks. However, the efficiency of existing MARL methods relies heavily on well-defined reward functions. Multiagent tasks with sparse reward feedback are especially…
Path finding problems involve identification of a plan for conflict free movement of agents over a common road network. Most approaches to this problem handle the agents as point objects, wherein the size of the agent is significantly…
We consider multi-agent transport task problems where, e.g. in a factory setting, items have to be delivered from a given start to a goal pose while the delivering robots need to avoid collisions with each other on the floor. We introduce a…
The problem of generating an optimal coalition structure for a given coalition game of rational agents is to find a partition that maximizes their social welfare and is known to be NP-hard. This paper proposes GCS-Q, a novel…
As industries increasingly adopt large robotic fleets, there is a pressing need for computationally efficient, practical, and optimal conflict-free path planning for multiple robots. Conflict-Based Search (CBS) is a popular method for…
The Coalition Formation with Spatial and Temporal constraints Problem (CFSTP) is a multi-agent task allocation problem in which few agents have to perform many tasks, each with its deadline and workload. To maximize the number of completed…
This paper addresses a generalization problem of Multi-Agent Pathfinding (MAPF), called Collaborative Task Sequencing - Multi-Agent Pathfinding (CTS-MAPF), where agents must plan collision-free paths and visit a series of intermediate task…
This paper introduces a novel algorithm for multiagent offline trajectory generation based on distributed model predictive control. Central to the algorithm's scalability and success is the development of an on-demand collision avoidance…
This paper studies a team coordination problem in a graph environment. Specifically, we incorporate "support" action which an agent can take to reduce the cost for its teammate to traverse some edges that have higher costs otherwise. Due to…
Coalitions naturally exist in many real-world systems involving multiple decision makers such as ridesharing, security, and online ad auctions, but the coalition structure among the agents is often unknown. We propose and study an important…
The problem of Multi-Agent Path Finding (MAPF) calls for finding a set of conflict-free paths for a fleet of agents operating in a given environment. Arguably, the state-of-the-art approach to computing optimal solutions is Conflict-Based…
In this paper, we propose the Multi-Agent Corridor Generating Algorithm (MACGA) for solving the Multi-agent Pathfinding (MAPF) problem, where a group of agents need to find non-colliding paths to their target locations. Existing approaches…
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…
Imagine the future construction site, hospital, or office with dozens of robots bought from different manufacturers. How can we enable these different robots to effectively move in a shared environment, given that each robot may have its…