Related papers: Solving Multi-Agent Multi-Goal Path Finding Proble…
We consider a general problem where an agent is in a multi-agent environment and must plan for herself without any prior information about her opponents. At each moment, this pivotal agent is faced with a trade-off between exploiting her…
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 study the problem of plan synthesis for multi-agent systems, to achieve complex, high-level, long-term goals that are assigned to each agent individually. As the agents might not be capable of satisfying their respective goals by…
We propose ScheduleNet, a RL-based real-time scheduler, that can solve various types of multi-agent scheduling problems. We formulate these problems as a semi-MDP with episodic reward (makespan) and learn ScheduleNet, a decentralized…
In Multiagent Path Finding (MAPF), the goal is to compute efficient, collision-free paths for multiple agents navigating a network from their sources to targets, minimizing the schedule's makespan-the total time until all agents reach their…
Coordinating multiple autonomous agents to reach a target region while avoiding collisions and maintaining communication connectivity is a core problem in multi-agent systems. In practice, agents have a limited communication range. Thus,…
We consider a multi agent optimization problem where a set of agents collectively solves a global optimization problem with the objective function given by the sum of locally known convex functions. We focus on the case when information…
Path cover is a well-known intractable problem that finds a minimum number of vertex disjoint paths in a given graph to cover all the vertices. We show that a variant, where the objective function is not the number of paths but the number…
We introduce a variant of the deterministic rendezvous problem for a pair of heterogeneous agents operating in an undirected graph, which differ in the time they require to traverse particular edges of the graph. Each agent knows the…
In multi-agent navigation, agents need to move towards their goal locations while avoiding collisions with other agents and static obstacles, often without communication with each other. Existing methods compute motions that are optimal…
Given a graph $G$, and terminal vertices $s$ and $t$, the TRACKING PATHS problem asks to compute a minimum number of vertices to be marked as trackers, such that the sequence of trackers encountered in each s-t path is unique. TRACKING…
Motivated by the increasing appeal of robots in information-gathering missions, we study multi-agent path planning problems in which the agents must remain interconnected. We model an area by a topological graph specifying the movement and…
The Multi-Agent Pathfinding (MAPF) problem involves finding a set of conflict-free paths for a group of agents confined to a graph. In typical MAPF scenarios, the graph and the agents' starting and ending vertices are known beforehand,…
Among sub-optimal Multi-Agent Path Finding (MAPF) solvers, rule-based algorithms are particularly appealing since they are complete. Even in crowded scenarios, they allow finding a feasible solution that brings each agent to its target,…
Motivated by real-world applications such as the allocation of public housing, we examine the problem of assigning a group of agents to vertices (e.g., spatial locations) of a network so that the diversity level is maximized. Specifically,…
Many real-world problems require the coordination of multiple autonomous agents. Recent work has shown the promise of Graph Neural Networks (GNNs) to learn explicit communication strategies that enable complex multi-agent coordination.…
In many settings, people exhibit behavior that is inconsistent across time --- we allocate a block of time to get work done and then procrastinate, or put effort into a project and then later fail to complete it. An active line of research…
In this paper, we consider the problem of multi-agent navigation in partially observable grid environments. This problem is challenging for centralized planning approaches as they, typically, rely on the full knowledge of the environment.…
Most networks are not static objects, but instead they change over time. This observation has sparked rigorous research on temporal graphs within the last years. In temporal graphs, we have a fixed set of nodes and the connections between…
The multi-agent path finding (MAPF) problem is a combinatorial search problem that aims at finding paths for multiple agents (e.g., robots) in an environment (e.g., an autonomous warehouse) such that no two agents collide with each other,…