Related papers: Multiagent Stochastic Shortest Path Problem
Travel sharing, i.e., the problem of finding parts of routes which can be shared by several travellers with different points of departure and destinations, is a complex multiagent problem that requires taking into account individual agents'…
This paper studies the problem of multi-agent trajectory prediction in crowded unknown environments. A novel energy function optimization-based framework is proposed to generate prediction trajectories. Firstly, a new energy function is…
The problem of search by multiple agents to find and localize objects arises in many important applications. In this paper, we study a class of multi-agent search problems in which each agent can access only a subset of a discrete search…
This work develops effective distributed strategies for the solution of constrained multi-agent stochastic optimization problems with coupled parameters across the agents. In this formulation, each agent is influenced by only a subset of…
Multi-agent path finding in continuous space and time with geometric agents MAPF$^\mathcal{R}$ is addressed in this paper. The task is to navigate agents that move smoothly between predefined positions to their individual goals so that they…
In this paper, we propose a novel sampling-based planner for multi-goal path planning among obstacles, where the objective is to visit predefined target locations while minimizing the travel costs. The order of visiting the targets is often…
We study the multi-agent path finding problem (MAPF) for a group of agents which are allowed to move into arbitrary directions on a 2D square grid. We focus on centralized conflict resolution for independently computed plans. We propose an…
We propose the k-Shortest-Path (k-SP) constraint: a novel constraint on the agent's trajectory that improves the sample efficiency in sparse-reward MDPs. We show that any optimal policy necessarily satisfies the k-SP constraint. Notably,…
Solving a collision-aware multi-agent mission planning (task allocation and path finding) problem is challenging due to the requirement of real-time computational performance, scalability, and capability of handling static/dynamic obstacles…
The Shortest-Path Problem in Graph of Convex Sets (SPP in GCS) is a recently developed optimization framework that blends discrete and continuous decision making. Many relevant problems in robotics, such as collision-free motion planning,…
This study explores the problem of Multi-Agent Path Finding with continuous and stochastic travel times whose probability distribution is unknown. Our purpose is to manage a group of automated robots that provide package delivery services…
We consider the shortest path routing (SPR) of a network with stochastically time varying link metrics under potential adversarial attacks. Due to potential denial of service attacks, the distributions of link states could be stochastic…
Multi-Agent Path Finding (MAPF) is the problem of moving multiple agents from starts to goals without collisions. Lifelong MAPF (LMAPF) extends MAPF by continuously assigning new goals to agents. We present our winning approach to the 2023…
Given a connected graph on whose edges we can build roads to connect the nodes, a number of agents hold possibly different perspectives on which edges should be selected by assigning different edge weights. Our task is to build a minimum…
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,…
In this paper, we investigate the problem of joint searching and tracking of multiple mobile targets by a group of mobile agents. The targets appear and disappear at random times inside a surveillance region and their positions are random…
Multi-agent motion planning (MAMP) is an important problem for autonomous systems with multiple agents. In this work we propose a two-step method for finding optimized and kinematically feasible solutions to MAMP problems. The first step…
The task of the multi-agent pathfinding (MAPF) problem is to navigate a team of agents from their start point to the goal points. However, this setup is unsuitable in the assembly line scenario, which is periodic with a long working hour.…
Consider the problem of minimizing the expected value of a (possibly nonconvex) cost function parameterized by a random (vector) variable, when the expectation cannot be computed accurately (e.g., because the statistics of the random…
In this paper we propose two algorithms in the tabular setting and an algorithm for the function approximation setting for the Stochastic Shortest Path (SSP) problem. SSP problems form an important class of problems in Reinforcement…