Related papers: Multi-agent path-planning in a moving medium via W…
Multi-agent Path Finding (MAPF) is the problem of planning collision-free movements of agents so that they get from where they are to where they need to be. Commonly, agents are located on a graph and can traverse edges. This problem has…
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…
We propose a neural network approach that yields approximate solutions for high-dimensional optimal control problems and demonstrate its effectiveness using examples from multi-agent path finding. Our approach yields controls in a feedback…
Multi-agent path finding (MAPF) involves planning efficient paths for multiple agents to move simultaneously while avoiding collisions. In typical warehouse environments, agents are often sparsely distributed along aisles; however,…
We derive the dynamics of several rigid bodies of arbitrary shape in a 2-dimensional inviscid and incompressible fluid, whose vorticity field is given by point vortices. We adopt the idea of Vankerschaver et al. (2009) to derive the…
Optimal transport has gained significant attention in recent years due to its effectiveness in deep learning and computer vision. Its descendant metric, the Wasserstein distance, has been particularly successful in measuring distribution…
In this paper, we study a distributed optimization problem for a class of high-order multi-agent systems with unknown dynamics. In comparison with existing results for integrators or linear agents, we need to overcome the difficulties…
In the present work, we study deterministic mean field games (MFGs) with finite time horizon in which the dynamics of a generic agent is controlled by the acceleration. They are described by a system of PDEs coupling a continuity equation…
We study Fokker--Planck equations with symmetric, positive definite mobility matrices capturing diffusion in heterogeneous environments. A weighted Wasserstein metric is introduced for which these equations are gradient flows. This metric…
This paper presents a solution to the automatic task planning problem for multi-agent systems. A formal framework is developed based on the Nondeterministic Finite Automata with $\epsilon$-transitions, where given the capabilities,…
We propose a distributed algorithm for multiagent systems that aim to optimize a common objective when agents differ in their estimates of the objective-relevant state of the environment. Each agent keeps an estimate of the environment and…
The Mean-Field Schrodinger Bridge (MFSB) problem is an optimization problem aiming to find the minimum effort control policy to drive a McKean-Vlassov stochastic differential equation from one probability measure to another. In the context…
We consider a discrete system of $n$ simple indistinguishable devices, called \emph{agents}, forming a \emph{connected} shape $S_I$ on a two-dimensional square grid. Agents are equipped with a linear-strength mechanism, called a \emph{line…
We present a novel multiscale framework for analyzing sequences of probability measures in Wasserstein spaces over Euclidean domains. Exploiting the intrinsic geometry of optimal transport, we construct a multiscale transform applicable to…
Multi-agent path finding (MAPF) is the problem of moving agents to the goal vertex without collision. In the online MAPF problem, new agents may be added to the environment at any time, and the current agents have no information about…
We study a constrained distributed heterogeneous two-facility location problem, where a set of agents with private locations on the real line are divided into disjoint groups. The constraint means that the facilities can only be built in a…
In this paper, we analyze the behavior of a multi-agent system driven by the interactions of agents within a competitive environment. To achieve this, we describe the transition probabilities that underlie the system's stochastic nature. We…
Multi-Agent Path finding (MAPF) is the problem of finding paths for a set of agents such that each agent reaches its desired destination while avoiding collisions with the other agents. This problem arises in many robotics applications,…
In multi-agent search planning for a randomly moving and camouflaging target, we examine heterogeneous searchers that differ in terms of their endurance level, travel speed, and detection ability. This leads to a convex mixed-integer…
In this paper, we address the problem of optimizing flows on generalized graphs that feature multiple entry points and multiple populations, each with varying cost structures. We tackle this problem by considering the multi-population…