Related papers: Risk-Bounded Multi-Agent Visual Navigation via Ite…
Multi-agent path finding (MAPF) is an abstract model for the navigation of multiple robots in warehouse automation, where multiple robots plan collision-free paths from the start to goal positions. Reinforcement learning (RL) has been…
Multi-Agent Path Finding (MAPF), which focuses on finding collision-free paths for multiple robots, is crucial for applications ranging from aerial swarms to warehouse automation. Solving MAPF is NP-hard so learning-based approaches for…
We study a distributed decision-making problem in which multiple agents face the same multi-armed bandit (MAB), and each agent makes sequential choices among arms to maximize its own individual reward. The agents cooperate by sharing their…
This paper considers centralized mission-planning for a heterogeneous multi-agent system with the aim of locating a hidden target. We propose a mixed observable setting, consisting of a fully observable state-space and a partially…
In high-density environments where numerous autonomous agents move simultaneously in a distributed manner, streamlining global flows to mitigate local congestion is crucial to maintain overall navigation efficiency. This paper introduces a…
Multi-arm motion planning is fundamental for enabling arms to complete complex long-horizon tasks in shared spaces efficiently but current methods struggle with scalability due to exponential state-space growth and reliance on large…
Large robot fleets are now common in warehouses and other logistics settings, where small control gains translate into large operational impacts. In this article, we address task scheduling for lifelong Multi-Agent Pickup-and-Delivery…
Several recently developed Multi-Agent Path Finding (MAPF) solvers scale to large MAPF instances by searching for MAPF plans on 2 levels: The high-level search resolves collisions between agents, and the low-level search plans paths for…
We consider the problem of designing distributed collision-avoidance multi-agent control in large-scale environments with potentially moving obstacles, where a large number of agents are required to maintain safety using only local…
Planning in environments with other agents whose future actions are uncertain often requires compromise between safety and performance. Here our goal is to design efficient planning algorithms with guaranteed bounds on the probability of…
The Multi-Agent Path Finding (MAPF) problem aims to determine the shortest and collision-free paths for multiple agents in a known, potentially obstacle-ridden environment. It is the core challenge for robotic deployments in large-scale…
Multi-Robot-Arm Motion Planning (M-RAMP) is a challenging problem featuring complex single-agent planning and multi-agent coordination. Recent advancements in extending the popular Conflict-Based Search (CBS) algorithm have made large…
Many real-world multi-agent systems exhibit nonlinear dynamics and complex inter-agent interactions. As these systems increase in scale, the main challenges arise from achieving scalability and handling nonconvexity. To address these…
Autonomous exploration of cluttered environments requires efficient exploration strategies that guarantee safety against potential collisions with unknown random obstacles. This paper presents a novel approach combining a graph neural…
The Mutliagent Path Finding (MAPF) problem consists of identifying the trajectories that a set of agents should follow inside a given network in order to reach their desired destinations as soon as possible, but without colliding with each…
This paper describes a hierarchical solution consisting of a multi-phase planner and a low-level safe controller to jointly solve the safe navigation problem in crowded, dynamic, and uncertain environments. The planner employs dynamic gap…
With the expansion of the scale of robotics applications, the multi-goal multi-agent pathfinding (MG-MAPF) problem began to gain widespread attention. This problem requires each agent to visit pre-assigned multiple goal points at least once…
Dynamic low altitude networks offer significant potential for efficient and reliable data transport via unmanned aerial vehicles (UAVs) relays which usually operate with predetermined trajectories. However, it is challenging to optimize the…
Multi-Agent Path Finding (MAPF), i.e., finding collision-free paths for multiple robots, plays a critical role in many applications. Sometimes, assigning a target to each agent also presents a challenge. The Combined Target-Assignment and…
Multi-Agent Path Finding (MAPF) is a challenging combinatorial problem that asks us to plan collision-free paths for a team of cooperative agents. In this work, we show that one of the reasons why MAPF is so hard to solve is due to a…