相关论文: Asynchronous approach in the plane: A deterministi…
Coordinating the movement of multiple autonomous agents over a shared network is a fundamental challenge in algorithmic robotics, intelligent transportation, and distributed systems. The dominant approach, Multi-Agent Path Finding, relies…
We present a unified framework for designing deterministic monotone polynomial time approximation schemes (PTAS's) for a wide class of scheduling problems on uniformly related machines. This class includes (among others) minimizing the…
Minimising the longest travel distance for a group of mobile robots with interchangeable goals requires knowledge of the shortest length paths between all robots and goal destinations. Determining the exact length of the shortest paths in…
Multi-agent path finding (MAPF) determines an ensemble of collision-free paths for multiple agents between their respective start and goal locations. Among the available MAPF planners for workspace modeled as a graph, A*-based approaches…
The problem of adversarial multi-robot patrol has gained interest in recent years, mainly due to its immediate relevance to various security applications. In this problem, robots are required to repeatedly visit a target area in a way that…
We study the labeled multi-robot path planning problem in continuous 2D and 3D domains in the absence of obstacles where robots must not collide with each other. For an arbitrary number of robots in arbitrary initial and goal arrangements,…
This papers studies multi-agent (convex and \emph{nonconvex}) optimization over static digraphs. We propose a general distributed \emph{asynchronous} algorithmic framework whereby i) agents can update their local variables as well as…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
We address the problem of routing a team of drones and trucks over large-scale urban road networks. To conserve their limited flight energy, drones can use trucks as temporary modes of transit en route to their own destinations. Such…
We study the problem of treasure hunt in a Euclidean plane by a mobile agent with the guidance of pebbles. The initial position of the agent and position of the treasure are modeled as special points in the Euclidean plane. The treasure is…
In this article, we present an algorithm that drives the outputs of a network of agents to jointly track the solutions of time-varying optimization problems in a way that is robust to asynchrony in the agents' operations. We consider three…
The distributed dual ascent is an established algorithm to solve strongly convex multi-agent optimization problems with separable cost functions, in the presence of coupling constraints. In this paper, we study its asynchronous counterpart.…
We study a large-scale patrol problem with state-dependent costs and multi-agent coordination.We consider heterogeneous agents, rather general reward functions, and the capabilities of tracking agents' trajectories.Given the complexity and…
For enabling efficient, large-scale coordination of unmanned aerial vehicles (UAVs) under the labeled setting, in this work, we develop the first polynomial time algorithm for the reconfiguration of many moving bodies in three-dimensional…
We describe a novel approach for computing collision-free \emph{global} trajectories for $p$ agents with specified initial and final configurations, based on an improved version of the alternating direction method of multipliers (ADMM).…
Effective modeling of how human travelers learn and adjust their travel behavior from interacting with transportation systems is critical for system assessment and planning. However, this task is also difficult due to the complex cognition…
The paper represents an algorithm for planning safe and optimal routes for transport facilities with unrestricted movement direction that travel within areas with obstacles. Paper explains the algorithm using a ship as an example of such a…
This paper presents an iterative approach for heterogeneous multi-agent route planning in environments with unknown resource distributions. We focus on a team of robots with diverse capabilities tasked with executing missions specified…
This paper addresses the challenge of navigating unmanned aerial vehicles in contested environments by introducing a cooperative multi-agent framework that increases the likelihood of safe UAV traversal. The approach involves two types of…
Traditional approaches to the design of multi-agent navigation algorithms consider the environment as a fixed constraint, despite the obvious influence of spatial constraints on agents' performance. Yet hand-designing improved environment…