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In this work we consider the multi-agent motion planning (MAMP) problem with the constraint that agents arrive at their respective goals at the same time. For the special case where all agents are initially at rest we propose a two-step…
In this paper, we consider the problem of path finding for a set of homogeneous and autonomous agents navigating a previously unknown stochastic environment. In our problem setting, each agent attempts to maximize a given utility function…
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…
We generalize the classical cow-path problem [7, 14, 38, 39] into a question that is relevant for collective foraging in animal groups. Specifically, we consider a setting in which k identical (probabilistic) agents, initially placed at…
We introduce and study the problem of planning a trajectory for an agent to carry out a scouting mission while avoiding being detected by an adversarial guard. This introduces an adversarial version of classical visibility-based planning…
Traditional navigation services find the fastest route for a single driver. Though always using the fastest route seems desirable for every individual, selfish behavior can have undesirable effects such as higher energy consumption and…
Unmanned systems (USs) including unmanned aerial vehicles, unmanned underwater vehicles, and unmanned ground vehicles have great application prospects in military and civil fields, among which the process of finding feasible and optimal…
The input to the \emph{Triangle Evacuation} problem is a triangle $ABC$. Given a starting point $S$ on the perimeter of the triangle, a feasible solution to the problem consists of two unit-speed trajectories of mobile agents that…
Distributed learning is essential to train machine learning algorithms across heterogeneous agents while maintaining data privacy. We conduct an asymptotic analysis of Unified Distributed SGD (UD-SGD), exploring a variety of communication…
We present an algorithm for finding optimal paths for multiple stochastic agents in a graph to reach their destinations with a user-specified maximum pairwise collision probability. Our algorithm, called STT-CBS, uses Conflict-Based Search…
We study distributed (strongly convex) optimization problems over a network of agents, with no centralized nodes. The loss functions of the agents are assumed to be \textit{similar}, due to statistical data similarity or otherwise. In order…
When people choose routes minimizing their individual delay, the aggregate congestion can be much higher compared to that experienced by a centrally-imposed routing. Yet centralized routing is incompatible with the presence of…
We study the efficiency of search processes based on Levy flights (LFs) with power-law distributed jump lengths in the presence of an external drift. While LFs turn out to be efficient search processes when relative to the starting point…
Multi-Agent Pathfinding (MAPF) is the problem of finding paths for multiple agents such that every agent reaches its goal and the agents do not collide. Most prior work on MAPF was on grids, assumed agents' actions have uniform duration,…
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…
This paper presents a hierarchical planning algorithm for racing with multiple opponents. The two-stage approach consists of a high-level behavioral planning step and a low-level optimization step. By combining discrete and continuous…
In this paper, we study the problem of distributed multi-agent optimization over a network, where each agent possesses a local cost function that is smooth and strongly convex. The global objective is to find a common solution that…
We consider the following distributed pursuit-evasion problem. A team of mobile agents called searchers starts at an arbitrary node of an unknown $n$-node network. Their goal is to execute a search strategy that guarantees capturing a fast…
We study Multi-Agent Path Finding for arrangements of labeled agents in the interior of a simply connected domain: Given a unique start and target position for each agent, the goal is to find a sequence of parallel, collision-free agent…
Traditional approaches to the design of multi-agent navigation algorithms consider the environment as a fixed constraint, despite the obvious influence of spatial constraints on agents' performance. Yet hand-designing improved environment…