Related papers: CAHC:A General Conflict-Aware Heuristic Caching Fr…
In unstructured environments like parking lots or construction sites, due to the large search-space and kinodynamic constraints of the vehicle, it is challenging to achieve real-time planning. Several state-of-the-art planners utilize…
Deploying continual object detection on microcontrollers (MCUs) with under 100KB memory requires efficient feature compression that can adapt to evolving task distributions. Existing approaches rely on fixed compression strategies (e.g.,…
We present a novel framework for addressing the challenges of multi-Agent planning and formation control within intricate and dynamic environments. This framework transforms the Multi-Agent Path Finding (MAPF) problem into a Multi-Agent…
The MAPF problem is the fundamental problem of planning paths for multiple agents, where the key constraint is that the agents will be able to follow these paths concurrently without colliding with each other. Applications of MAPF include…
Multi-Agent Path Finding (MAPF) has been widely studied in recent years. However, most existing MAPF algorithms assume that an agent occupies only a single grid in a grid-based map. This assumption limits their applicability in many…
This study investigates the potential of hybrid metaheuristic algorithms to enhance the training of Probabilistic Neural Networks (PNNs) by leveraging the complementary strengths of multiple optimisation strategies. Traditional learning…
This paper addresses a variant of multi-agent path finding (MAPF) in continuous space and time. We present a new solving approach based on satisfiability modulo theories (SMT) to obtain makespan optimal solutions. The standard MAPF is a…
Multi-robot motion planning (MRMP) is the fundamental problem of finding non-colliding trajectories for multiple robots acting in an environment, under kinodynamic constraints. Due to its complexity, existing algorithms either utilize…
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…
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…
The concurrent target assignment and pathfinding (TAPF) problem extends multi-agent pathfinding (MAPF) by asking planners to allocate distinct targets and collision-free paths to agents. Prior work on TAPF has relied exclusively on…
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…
The multi-agent pathfinding (MAPF) problem seeks collision-free paths for a team of agents from their current positions to their pre-set goals in a known environment, and is an essential problem found at the core of many logistics,…
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 problem that generally requires finding collision-free paths for multiple agents in a shared environment. Solving MAPF optimally, even under restrictive assumptions, is NP-hard, yet efficient solutions…
Multi-Agent Reinforcement Learning (MARL) based Multi-Agent Path Finding (MAPF) has recently gained attention due to its efficiency and scalability. Several MARL-MAPF methods choose to use communication to enrich the information one agent…
Metaheuristic algorithms are essential for solving complex optimization problems in different fields. However, the difficulty in comparing and rating these algorithms remains due to the wide range of performance metrics and problem…
We consider a family of Rich Vehicle Routing Problems (RVRP) which have the particularity to combine a heterogeneous fleet with other attributes, such as backhauls, multiple depots, split deliveries, site dependency, open routes, duration…
Large Language Models (LLMs) have advanced the field of Combinatorial Optimization through automated heuristic generation. Instead of relying on manual design, this LLM-Driven Heuristic Design (LHD) process leverages LLMs to iteratively…
Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics, requiring the computation of collision-free paths for multiple agents moving from their respective start to goal positions. Coordinating multiple agents in a shared…