Related papers: Multi-Agent Path Finding Among Dynamic Uncontrolla…
Multi-Agent Path Finding (MAPF) deals with finding conflict-free paths for a set of agents from an initial configuration to a given target configuration. The Lifelong MAPF (LMAPF) problem is a well-studied online version of MAPF in which an…
Multi-Agent Path Finding (MAPF) requires collision-free trajectories for multiple agents on a shared graph, often with the objective of minimizing the sum-of-costs (SOC). Many optimal and bounded-suboptimal solvers rely on time-expanded…
In this work, we consider the Multi-Agent Pickup-and-Delivery (MAPD) problem, where agents constantly engage with new tasks and need to plan collision-free paths to execute them. To execute a task, an agent needs to visit a pair of goal…
This study informs the design of future multi-agent pathfinding (MAPF) and multi-robot motion planning (MRMP) algorithms by guiding choices based on constraint classification for constraint-based search algorithms. We categorize constraints…
In the field of autonomous systems, accurately predicting the trajectories of nearby vehicles and pedestrians is crucial for ensuring both safety and operational efficiency. This paper introduces a novel methodology for trajectory…
The Multi-Agent Pathfinding (MAPF) problem involves finding a set of conflict-free paths for a group of agents confined to a graph. In typical MAPF scenarios, the graph and the agents' starting and ending vertices are known beforehand,…
Scientists often search for phenomena of interest while exploring new environments. Autonomous vehicles are deployed to explore such areas where human-operated vehicles would be costly or dangerous. Online control of autonomous vehicles for…
Multi-agent navigation in dynamic environments is of great industrial value when deploying a large scale fleet of robot to real-world applications. This paper proposes a decentralized partially observable multi-agent path planning with…
Multi-Agent Path Finding (MAPF) is a fundamental motion coordination problem arising in multi-agent systems with a wide range of applications. The problem's intractability has led to extensive research on improving the scalability of…
Multi-Agent Pathfinding (MAPF) plays a critical role in various domains. Traditional MAPF methods typically assume unit edge costs and single-timestep actions, which limit their applicability to real-world scenarios. MAPFR extends MAPF to…
We study a graph pathfinding problem Distance-$r$ Independent Unlabeled Multi-Agent Pathfinding, finding a set of collision-free paths between two sets where agents must stay at pairwise distance at least $r+1$ at all times. This additional…
Among sub-optimal Multi-Agent Path Finding (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,…
We present a novel framework for addressing the challenges of multi-Agent planning and formation control within intricate and dynamic environments. This framework transforms the Multi-Agent Path Finding (MAPF) problem into a Multi-Agent…
Multi-Agent Path finding (MAPF) is the problem of finding paths for a set of agents such that each agent reaches its desired destination while avoiding collisions with the other agents. This problem arises in many robotics applications,…
While evolutionary computation is well suited for automatic discovery in engineering, it can also be used to gain insight into how humans and organizations could perform more effectively. Using a real-world problem of innovation search in…
The Multi-Agent Path Finding (MAPF) problem aims to find collision-free paths for multiple agents while optimizing objectives such as the sum of costs or makespan. MAPF has wide applications in domains like automated warehouses,…
Multi-Agent Path Finding has been widely studied in the past few years due to its broad application in the field of robotics and AI. However, previous solvers rely on several simplifying assumptions. They limit their applicability in…
The multi-agent pathfinding (MAPF) problem seeks collision-free paths for a team of agents from their current positions to their pre-set goals in a known environment, and is an essential problem found at the core of many logistics,…
This paper addresses the problem of guaranteeing safety of multiple coordinated agents moving in dynamic environments. It has recently been shown that this problem can be efficiently solved through the notion of Control Barrier Functions…
In multi-agent path finding (MAPF) the task is to find non-conflicting paths for multiple agents. In this paper we focus on finding suboptimal solutions for MAPF for the sum-of-costs variant. Recently, a SAT-based approached was developed…