相关论文: Asynchronous approach in the plane: A deterministi…
We propose an optimal solution to a deterministic dynamic assignment problem by leveraging connections to the theory of discrete optimal transport to convert the combinatorial assignment problem into a tractable linear program. We seek to…
We study prioritized planning for Multi-Agent Path Finding (MAPF). Existing prioritized MAPF algorithms depend on rule-of-thumb heuristics and random assignment to determine a fixed total priority ordering of all agents a priori. We instead…
Assume that a target is known to be present at an unknown point among a finite set of locations in the plane. We search for it using a mobile robot that has imperfect sensing capabilities. It takes time for the robot to move between…
Consider a small group of mobile agents whose goal is to locate a certain cell in a two-dimensional infinite grid. The agents operate in an asynchronous environment, where in each discrete time step, an arbitrary subset of the agents…
This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with…
We consider the problem of finding patrol schedules for $k$ robots to visit a given set of $n$ sites in a metric space. Each robot has the same maximum speed and the goal is to minimize the weighted maximum latency of any site, where the…
Multi-agent Pathfinding (MAPF) problem generally asks to find a set of conflict-free paths for a set of agents confined to a graph and is typically solved in a centralized fashion. Conversely, in this work, we investigate the decentralized…
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…
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…
The Multi-Agent Path Finding (MAPF) problem aims at finding non-conflicting paths for multiple agents from their respective sources to destinations. This problem arises in multiple real-life situations, including robot motion planning and…
We consider the problem of tracking $n$ targets in the plane using $2n$ cameras. We can use two cameras to estimate the location of a target. We are then interested in forming $n$ camera pairs where each camera belongs to exactly one pair,…
The problem of high-dimensional path-dependent optimal stopping (OS) is important to multiple academic communities and applications. Modern OS tasks often have a large number of decision epochs, and complicated non-Markovian dynamics,…
In this paper, we investigate the problem of linear temporal logic (LTL) path planning for multi-agent systems, introducing the new concept of \emph{ordering constraints}. Specifically, we consider a generic objective function that is…
We present a novel approach for efficient and reliable goal-directed long-horizon navigation for a multi-robot team in a structured, unknown environment by predicting statistics of unknown space. Building on recent work in…
A mobile agent has to find an inert target in some environment that can be a graph or a terrain in the plane. This task is known as treasure hunt. We consider deterministic algorithms for treasure hunt in trees. Our goal is to establish the…
We focus on adversarial patrolling games on arbitrary graphs, where the Defender can control a mobile resource, the targets are alarmed by an alarm system, and the Attacker can observe the actions of the mobile resource of the Defender and…
In this paper, we study the problem of map matching with travel time constraints. Given a sequence of $k$ spatio-temporal measurements and an embedded path graph with travel time costs, the goal is to snap each measurement to a close-by…
This paper presents a parallelizable variant of the well-known Hierarchical Cooperative A* algorithm (HCA*) for the multi-agent path finding (MAPF) problem. In this variant, all agents initially find their shortest paths disregarding the…
We introduce a variant of the deterministic rendezvous problem for a pair of heterogeneous agents operating in an undirected graph, which differ in the time they require to traverse particular edges of the graph. Each agent knows the…
Information about action costs is critical for real-world AI planning applications. Rather than rely solely on declarative action models, recent approaches also use black-box external action cost estimators, often learned from data, that…