Related papers: Spirals and Beyond: Competitive Plane Search with …
Multi-Agent Path Finding (MAPF) is the problem of finding a collection of collision-free paths for a team of multiple agents while minimizing some global cost, such as the sum of the time travelled by all agents, or the time travelled by…
We study a variant of the searching problem where the environment consists of a known terrain and the goal is to obtain visibility of an unknown target point on the surface of the terrain. The searcher starts on the surface of the terrain…
A group of mobile agents is given a task to explore an edge-weighted graph $G$, i.e., every vertex of $G$ has to be visited by at least one agent. There is no centralized unit to coordinate their actions, but they can freely communicate…
Search processes often involve multiple agents that collectively search a randomly located target. While increasing the number of agents usually decreases the time at which the first agent finds the target, it also requires resources to…
Inspired by the diverse set of technologies used in underground object detection and imaging, we introduce a novel multimodal linear search problem whereby a single searcher starts at the origin and must find a target that can only be…
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…
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…
Multi-Agent Path Finding (MAPF) seeks collision-free paths for multiple agents from their respective starting locations to their respective goal locations while minimizing path costs. Although many MAPF algorithms were developed and can…
In several important routing contexts it is required to identify a set of routes, each of which optimizes a different criterion. For instance, in the context of vehicle routing, one route would minimize the total distance traveled, while…
The minimisation of cost functions is crucial in various optimisation fields. However, identifying their global minimum remains challenging owing to the huge computational cost incurred. This work analytically expresses the computational…
We revisit the problem of searching for a target at an unknown location on a line when given upper and lower bounds on the distance D that separates the initial position of the searcher from the target. Prior to this work, only asymptotic…
This paper describes a number of distributed forward search algorithms for solving multi-agent planning problems. We introduce a distributed formulation of non-optimal forward search, as well as an optimal version, MAD-A*. Our algorithms…
Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to build shorter paths to the goal. Indeed, optimal algorithms…
This paper addresses the challenge of navigating unmanned aerial vehicles in contested environments by introducing a cooperative multi-agent framework that increases the likelihood of safe UAV traversal. The approach involves two types of…
The problem of finding conflict-free trajectories for multiple agents of identical circular shape, operating in shared 2D workspace, is addressed in the paper and decoupled, e.g., prioritized, approach is used to solve this problem. Agents'…
We consider the problem of searching for rays (or lines) in the half-plane. The given problem turns out to be a very natural extension of the cow-path problem that is lifted into the half-plane and the problem can also directly be motivated…
We present a multi-scale forward search algorithm for distributed agents to solve single-query shortest path planning problems. Each agent first builds a representation of its own search space of the common environment as a multi-resolution…
Multi-agent active search requires autonomous agents to choose sensing actions that efficiently locate targets. In a realistic setting, agents also must consider the costs that their decisions incur. Previously proposed active search…
In multi-agent planning, preserving the agents' privacy has become an increasingly popular research topic. For preserving the agents' privacy, agents jointly compute a plan that achieves mutual goals by keeping certain information private…
The difference between the speed of the actions of different processes is typically considered as an obstacle that makes the achievement of cooperative goals more difficult. In this work, we aim to highlight potential benefits of such…