Related papers: WinkTPG: An Execution Framework for Multi-Agent Pa…
The Multi-Agent Path Finding (MAPF) problem entails finding collision-free paths for a set of agents, guiding them from their start to goal locations. However, MAPF does not account for several practical task-related constraints. For…
We focus on decentralized navigation among multiple non-communicating rational agents at \emph{uncontrolled} intersections, i.e., street intersections without traffic signs or signals. Avoiding collisions in such domains relies on the…
We study the planning and acting phase for the problem of multi-agent path finding (MAPF) in this paper. MAPF is a problem of navigating agents from their start positions to specified individual goal positions so that agents do not collide…
The majority of multi-agent path finding (MAPF) methods compute collision-free space-time paths which require agents to be at a specific location at a specific discretized timestep. However, executing these space-time paths directly on…
In the Multi-Agent Path Finding (MAPF) problem, the goal is to find non-colliding paths for agents in an environment, such that each agent reaches its goal from its initial location. In safety-critical applications, a human supervisor may…
Safe Interval Path Planning (SIPP) is a powerful algorithm for solving single-agent pathfinding problem when the agent is confined to a graph and certain vertices/edges of this graph are blocked at certain time intervals due to dynamic…
This work casts the kinodynamic planning problem for car-like vehicles as an optimization task to compute a minimum-time trajectory and its associated velocity profile, subject to boundary conditions on velocity, acceleration, and steering.…
Multi-agent target assignment and path planning (TAPF) are two key problems in intelligent warehouse. However, most literature only addresses one of these two problems separately. In this study, we propose a method to simultaneously solve…
Multi-Agent Path Finding (MAPF), which involves finding collision-free paths for multiple robots, is crucial in various applications. Lifelong MAPF, where targets are reassigned to agents as soon as they complete their initial targets,…
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…
Task and Motion Planning (TAMP) integrates high-level task planning with low-level motion feasibility, but existing methods are costly in long-horizon problems due to excessive motion sampling. While LLMs provide commonsense priors, they…
In environments where many automated guided vehicles (AGVs) operate, planning efficient, collision-free paths is essential. Related research has mainly focused on environments with pre-defined passages, resulting in space inefficiency. We…
Multi-Agent Motion Planning (MAMP) finds various applications in fields such as traffic management, airport operations, and warehouse automation. In many of these environments, differential drive robots are commonly used. These robots have…
This paper addresses the challenge of multi-agent path planning for efficient data collection in dynamic, uncertain environments, exemplified by autonomous underwater vehicles (AUVs) navigating the Gulf of Mexico. Traditional greedy…
Work-in-Progress (WiP) prediction is critical for predictive process monitoring, enabling accurate anticipation of workload fluctuations and optimized operational planning. This paper proposes a retrieval-augmented, multi-agent framework…
Multi-agent path finding (MAPF) is the problem of moving agents to the goal vertex without collision. In the online MAPF problem, new agents may be added to the environment at any time, and the current agents have no information about…
Multi-agent path finding (MAPF) involves planning efficient paths for multiple agents to move simultaneously while avoiding collisions. In typical warehouse environments, agents are often sparsely distributed along aisles; however,…
Modern Multi-Agent Path Finding (MAPF) algorithms must plan for hundreds to thousands of agents in congested environments within a second, requiring highly efficient algorithms. Priority Inheritance with Backtracking (PIBT) is a popular…
Multi-Agent Path Finding (MAPF) is the problem of moving a team of agents to their goal locations without collisions. In this paper, we study the lifelong variant of MAPF, where agents are constantly engaged with new goal locations, such as…
Multi-agent pathfinding (MAPF) is a common abstraction of multi-robot trajectory planning problems, where multiple homogeneous robots simultaneously move in the shared environment. While solving MAPF optimally has been proven to be NP-hard,…