Related papers: Enhancing PIBT via Multi-Action Operations
We propose a machine learning approach for quickly solving Mixed Integer Programs (MIP) by learning to prioritize a set of decision variables, which we call pseudo-backdoors, for branching that results in faster solution times.…
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…
We formulate a multi-armed bandit (MAB) approach to choosing expert policies online in Markov decision processes (MDPs). Given a set of expert policies trained on a state and action space, the goal is to maximize the cumulative reward of…
We introduce multi-goal multi agent path finding (MAPF$^{MG}$) which generalizes the standard discrete multi-agent path finding (MAPF) problem. While the task in MAPF is to navigate agents in an undirected graph from their starting vertices…
Autonomous exploration is a complex task where the robot moves through an unknown environment with the goal of mapping it. The desired output of such a process is a sequence of paths that efficiently and safely minimise the uncertainty of…
Optimization methods for long-horizon, dynamically feasible motion planning in robotics tackle challenging non-convex and discontinuous optimization problems. Traditional methods often falter due to the nonlinear characteristics of these…
Modern scientific discovery increasingly relies on high-performance computing for complex modeling and simulation. A key challenge in improving parallel program performance is efficiently mapping tasks to processors and data to memory, a…
Multi-armed bandit problems (MABPs) are a special type of optimal control problem well suited to model resource allocation under uncertainty in a wide variety of contexts. Since the first publication of the optimal solution of the classic…
Continuous time systems are often modeled using discrete time dynamics but this requires a small simulation step to maintain accuracy. In turn, this requires a large planning horizon which leads to computationally demanding planning…
The multi-agent path-finding (MAPF) problem has recently received a lot of attention. However, it does not capture important characteristics of many real-world domains, such as automated warehouses, where agents are constantly engaged with…
Motion planning in an autonomous agent is responsible for providing smooth, safe and efficient navigation. Many solutions for dealing this problem have been offered, one of which is, Artificial Potential Fields (APF). APF is a simple and…
This paper addresses the fast replanning problem in dynamic environments with moving obstacles. Since for randomly moving obstacles the future states are unpredictable, the proposed method, called SMARRT, reacts to obstacle motions and…
Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics and AI, with numerous applications in real-world scenarios. One such scenario is filming scenes with multiple actors, where the goal is to capture the scene from multiple…
This paper proposes an intent-aware multi-agent planning framework as well as a learning algorithm. Under this framework, an agent plans in the goal space to maximize the expected utility. The planning process takes the belief of other…
Transfer Learning has shown great potential to enhance single-agent Reinforcement Learning (RL) efficiency. Similarly, Multiagent RL (MARL) can also be accelerated if agents can share knowledge with each other. However, it remains a problem…
This paper introduces Bidirectional Tight Informed Trees (BTIT*), an asymptotically optimal kinodynamic sampling-based motion planning algorithm that integrates an anytime bidirectional heuristic search (Bi-HS) and ensures the…
In Lifelong Multi-Agent Path Finding (L-MAPF) a team of agents performs a stream of tasks consisting of multiple locations to be visited by the agents on a shared graph while avoiding collisions with one another. L-MAPF is typically tackled…
Multi-Armed Bandit (MAB) algorithms are widely used in recommender systems that require continuous, incremental learning. A core aspect of MABs is the exploration-exploitation trade-off: choosing between exploiting items likely to be…
Multi Agent Path Finding (MAPF) seeks the optimal set of paths for multiple agents from respective start to goal locations such that no paths conflict. We address the MAPF problem for a fleet of hybrid-fuel unmanned aerial vehicles which…
We formalize and study the multi-goal task assignment and path finding (MG-TAPF) problem from theoretical and algorithmic perspectives. The MG-TAPF problem is to compute an assignment of tasks to agents, where each task consists of a…