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Multi-Agent Path Finding (MAPF) finds conflict-free paths for multiple agents from their respective start to goal locations. MAPF is challenging as the joint configuration space grows exponentially with respect to the number of agents.…
Multi-Agent Path Finding (MAPF) is the problem of finding a collection of collision-free paths for a team of multiple agents while minimizing some global cost, such as the sum of the time travelled by all agents, or the time travelled by…
Multi-Agent Path Finding (MAPF), i.e., finding collision-free paths for multiple robots, plays a critical role in many applications. Sometimes, assigning a target to each agent also presents a challenge. The Combined Target-Assignment and…
We consider an Anonymous Multi-Agent Path-Finding (AMAPF) problem where the set of agents is confined to a graph, a set of goal vertices is given and each of these vertices has to be reached by some agent. The problem is to find an…
This paper addresses a generalization problem of Multi-Agent Pathfinding (MAPF), called Collaborative Task Sequencing - Multi-Agent Pathfinding (CTS-MAPF), where agents must plan collision-free paths and visit a series of intermediate task…
Given an undirected graph $G$, the Minimum Sum Coloring problem (MSCP) is to find a legal assignment of colors (represented by natural numbers) to each vertex of $G$ such that the total sum of the colors assigned to the vertices is…
A sport tournament problem is considered the Traveling Tournament Problem (TTP). One interesting type is the mirrored Traveling Tournament Problem (mTTP). The objective of the problem is to minimize either the total number of traveling or…
In the present paper, we propose an efficient local search for the minimum independent dominating set problem. We consider a local search that uses $k$-swap as the neighborhood operation. Given a feasible solution $S$, it is the operation…
An instance $I$ of the Stable Matching Problem (SMP) is given by a bipartite graph with a preference list of neighbors for every vertex. A swap in $I$ is the exchange of two consecutive vertices in a preference list. A swap can be viewed as…
The Colored Points Traveling Salesman Problem (Colored Points TSP) is introduced in this work as a novel variation of the traditional Traveling Salesman Problem (TSP) in which the set of points is partitioned into multiple classes, each of…
Multi-Agent Path Finding (MAPF) is a fundamental motion coordination problem arising in multi-agent systems with a wide range of applications. The problem's intractability has led to extensive research on improving the scalability of…
On an assigned graph, the problem of Multi-Agent Pathfinding (MAPF) consists in finding paths for multiple agents, avoiding collisions. Finding the minimum-length solution is known to be NP-hard, and computation times grows exponentially…
We consider manipulation problems in constrained and cluttered settings, which require several regrasps at unknown locations. We propose to inform an optimization-based task and motion planning (TAMP) solver with possible regrasp areas and…
Multi-Agent Path Finding (MAPF) deals with finding conflict-free paths for a set of agents from an initial configuration to a given target configuration. The Lifelong MAPF (LMAPF) problem is a well-studied online version of MAPF in which an…
The pattern matching problem with swaps is to find all occurrences of a pattern in a text while allowing the pattern to swap adjacent symbols. The goal is to design fast matching algorithm that takes advantage of the bit parallelism of…
Multi-robot systems are integral to modern logistics, but their capabilities are often limited to tasks executable by individual agents. This paper addresses a critical gap in existing frameworks like Multi-Agent Path Finding (MAPF) and…
The multi-agent path-finding (MAPF) problem has recently received a lot of attention. However, it does not capture important characteristics of many real-world domains, such as automated warehouses, where agents are constantly engaged with…
The shortest path problem in graphs is fundamental to AI. Nearly all variants of the problem and relevant algorithms that solve them ignore edge-weight computation time and its common relation to weight uncertainty. This implies that taking…
The transmission switching problem aims to determine the optimal network topology that minimizes the operating costs of a power system. This problem is typically formulated as a mixed-integer optimization model, which involves big-M…
This paper addresses a generalization of the well known multi-agent path finding (MAPF) problem that optimizes multiple conflicting objectives simultaneously such as travel time and path risk. This generalization, referred to as…