Related papers: Privacy Preserving Multi Agent Path Finding
Multi-Agent Path Finding (MAPF) is a problem of finding a sequence of movements for agents to reach their assigned location without collision. Centralized algorithms usually give optimal solutions, but have difficulties to scale without…
The Multi-Agent Path Finding (MAPF) problem entails finding collision-free paths for a set of agents, guiding them from their start to goal locations. However, MAPF does not account for several practical task-related constraints. For…
In multi-agent path finding (MAPF) the task is to find non-conflicting paths for multiple agents. In this paper we focus on finding suboptimal solutions for MAPF for the sum-of-costs variant. Recently, a SAT-based approached was developed…
This paper addresses the challenges of real-time, large-scale, and near-optimal multi-agent pathfinding (MAPF) through enhancements to the recently proposed LaCAM* algorithm. LaCAM* is a scalable search-based algorithm that guarantees the…
Multi-Agent Path Finding (MAPF) is essential to large-scale robotic systems. Recent methods have applied reinforcement learning (RL) to learn decentralized polices in partially observable environments. A fundamental challenge of obtaining…
This paper investigates a problem called Multi-Agent Path Finding with Elevators (MAPF-E), which seeks conflict-free paths for multiple agents from their start to goal locations that may locate on different floors, and the agents can use…
Many multi-robot applications require tasks to be completed efficiently and in the correct order, so that downstream operations can proceed at the right time. Multi-agent path finding with precedence constraints (MAPF-PC) is a well-studied…
This paper considers a distributed multi-agent optimization problem, with the global objective consisting of the sum of local objective functions of the agents. The agents solve the optimization problem using local computation and…
Multi-Agent Path Finding (MAPF) is a critical component of logistics and warehouse management, which focuses on planning collision-free paths for a team of robots in a known environment. Recent work introduced a novel MAPF approach, LNS2,…
This paper investigates Multi-Agent Path Finding Among Movable Obstacles (M-PAMO), which seeks collision-free paths for multiple agents from their start to goal locations among static and movable obstacles. M-PAMO arises in logistics and…
In multi-agent applications such as surveillance and logistics, fleets of mobile agents are often expected to coordinate and safely visit a large number of goal locations as efficiently as possible. The multi-agent planning problem in these…
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…
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…
An exciting frontier in robotic manipulation is the use of multiple arms at once. However, planning concurrent motions is a challenging task using current methods. The high-dimensional composite state space renders many well-known motion…
As multi-agent systems proliferate and share more user data, new approaches are needed to protect sensitive data while still enabling system operation. To address this need, this paper presents a private multi-agent LQ control framework.…
Continual data collection and widespread deployment of machine learning algorithms, particularly the distributed variants, have raised new privacy challenges. In a distributed machine learning scenario, the dataset is stored among several…
In collaborative privacy preserving planning (CPPP), a group of agents jointly creates a plan to achieve a set of goals while preserving each others' privacy. During planning, agents often reveal the private dependencies between their…
In distributed optimization and iterative consensus literature, a standard problem is for $N$ agents to minimize a function $f$ over a subset of Euclidean space, where the cost function is expressed as a sum $\sum f_i$. In this paper, we…
Multi-Agent Path Finding (MAPF) in crowded environments presents a challenging problem in motion planning, aiming to find collision-free paths for all agents in the system. MAPF finds a wide range of applications in various domains,…
A secure and private framework for inter-agent communication and coordination is developed. This allows an agent, in our case a fleet owner, to ask questions or submit queries in an encrypted fashion using semi-homomorphic encryption. The…