相关论文: On the Tour Towards DPLL(MAPF) and Beyond

Multi-agent path finding (MAPF) is an essential component of many large-scale, real-world robot deployments, from aerial swarms to warehouse automation. However, despite the community's continued efforts, most state-of-the-art MAPF planners…

We formalise and study multi-agent timed models MAPTs (Multi-Agent with timed Periodic Tasks), where each agent is associated to a regular timed schema upon which all possibles actions of the agent rely. MAPTs allow for an accelerated…

Propositional satisfiability (SAT) solvers, which typically operate using conjunctive normal form (CNF), have been successfully applied in many domains. However, in some application areas such as circuit verification, bounded model…

This paper investigates the multi-agent cooperative exploration problem, which requires multiple agents to explore an unseen environment via sensory signals in a limited time. A popular approach to exploration tasks is to combine active…

We present a scalable and effective multi-agent safe motion planner that enables a group of agents to move to their desired locations while avoiding collisions with obstacles and other agents, with the presence of rich obstacles,…

Multi-agent path finding (MAPF) is an active area in artificial intelligence, which has many real-world applications such as warehouse management, traffic control, robotics, etc. Recently, M* and its variants have greatly improved the…

Recent work on the multi-agent pathfinding problem (MAPF) has begun to study agents with motion that is more complex, for example, with non-unit action durations and kinematic constraints. An important aspect of MAPF is collision detection.…

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…

This work focuses on effectively generating diverse solutions for satisfiability modulo theories (SMT) formulas, targeting the theories of bit-vectors, arrays, and uninterpreted functions, which is a critical task in software and hardware…

Cooperative path-finding in multi-agent systems demands scalable solutions to navigate agents from their origins to destinations without conflict. Despite the breadth of research, scalability remains hampered by increased computational…

In recent years, Multi-Agent Path Finding (MAPF) has attracted attention from the fields of both Operations Research (OR) and Reinforcement Learning (RL). However, in the 2021 Flatland3 Challenge, a competition on MAPF, the best RL method…

Many real-world scenarios require multiple agents to coordinate in shared environments, while balancing trade-offs between multiple, potentially competing objectives. Current multi-objective multi-agent path finding (MO-MAPF) algorithms…

We tackle the challenging problem of multi-agent cooperative motion planning for complex tasks described using signal temporal logic (STL), where robots can have nonlinear and nonholonomic dynamics. Existing methods in multi-agent motion…

Missions for autonomous systems often require agents to visit multiple targets in complex operating conditions. This work considers the problem of visiting a set of targets in minimum time by a team of non-communicating agents in a Markov…

Multi-agent target assignment and path planning (TAPF) are two key problems in intelligent warehouse. However, most literature only addresses one of these two problems separately. In this study, we propose a method to simultaneously solve…

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).…

The problem of Multi-Agent Path Finding (MAPF) calls for finding a set of conflict-free paths for a fleet of agents operating in a given environment. Arguably, the state-of-the-art approach to computing optimal solutions is Conflict-Based…

In this paper, we introduce the map-language navigation task where an agent executes natural language instructions and moves to the target position based only on a given 3D semantic map. To tackle the task, we design the instruction-aware…

For many multiagent control problems, neural networks (NNs) have enabled promising new capabilities. However, many of these systems lack formal guarantees (e.g., collision avoidance, robustness), which prevents leveraging these advances in…

In game theory and multi-agent reinforcement learning (MARL), each agent selects a strategy, interacts with the environment and other agents, and subsequently updates its strategy based on the received payoff. This process generates a…