Related papers: Privacy Preserving Multi Agent Path Finding
PIBT is a computationally lightweight algorithm that can be applied to a variety of multi-agent pathfinding (MAPF) problems, generating the next collision-free locations of agents given another. Because of its simplicity and scalability, it…
An information-theoretic privacy mechanism design is studied, where an agent observes useful data $Y$ which is correlated with the private data $X$. The agent wants to reveal the information to a user, hence, the agent utilizes a privacy…
Modern Multi-Agent Path Finding (MAPF) algorithms must plan for hundreds to thousands of agents in congested environments within a second, requiring highly efficient algorithms. Priority Inheritance with Backtracking (PIBT) is a popular…
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,…
Multi-agent pathfinding (MAPF) has been widely used to solve large-scale real-world problems, e.g., automation warehouses. The learning-based, fully decentralized framework has been introduced to alleviate real-time problems and…
We formalize the problem of multi-agent path finding with deadlines (MAPF-DL). The objective is to maximize the number of agents that can reach their given goal vertices from their given start vertices within a given deadline, without…
We present a novel algorithm for large-scale Multi-Agent Path Finding (MAPF) that enables fast, scalable planning in dynamic environments such as automated warehouses. Our approach introduces finite-horizon hierarchical factorization, a…
Purpose of Review Planning collision-free paths for multiple robots is important for real-world multi-robot systems and has been studied as an optimization problem on graphs, called Multi-Agent Path Finding (MAPF). This review surveys…
In modern fulfillment warehouses, agents traverse the map to complete endless tasks that arrive on the fly, which is formulated as a lifelong Multi-Agent Path Finding (lifelong MAPF) problem. The goal of tackling this challenging problem is…
We introduce the Cooperative Multi-Agent Path Finding (Co-MAPF) problem, an extension to the classical MAPF problem, where cooperative behavior is incorporated. In this setting, a group of autonomous agents operate in a shared environment…
Scientists often search for phenomena of interest while exploring new environments. Autonomous vehicles are deployed to explore such areas where human-operated vehicles would be costly or dangerous. Online control of autonomous vehicles for…
Multi-Agent Path Finding (MAPF) is an important optimization problem underlying the deployment of robots in automated warehouses and factories. Despite the large body of work on this topic, most approaches make heavy simplifications, both…
We consider a resource allocation problem involving a large number of agents with individual constraints subject to privacy, and a central operator whose objective is to optimize a global, possibly nonconvex, cost while satisfying the…
We study the computational complexity of multi-agent path finding (MAPF). Given a graph $G$ and a set of agents, each having a start and target vertex, the goal is to find collision-free paths minimizing the total distance traveled. To…
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,…
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…
Deploying multi-robot systems in environments shared with dynamic and uncontrollable agents presents significant challenges, especially for large robot fleets. In such environments, individual robot operations can be delayed due to…
Privacy-preserving distributed processing has recently attracted considerable attention. It aims to design solutions for conducting signal processing tasks over networks in a decentralized fashion without violating privacy. Many algorithms…
Distributed computing frameworks such as MapReduce have become essential for large-scale data processing by decomposing tasks across multiple nodes. The multi-access distributed computing (MADC) model further advances this paradigm by…
The Multi-Agent Path Finding (MAPF) problem involves planning collision-free paths for multiple agents in a shared environment. The majority of MAPF solvers rely on the assumption that an agent can arrive at a specific location at a…