相关论文: Tight Bounds for Deterministic High-Dimensional Gr…

Multi-Agent Path Finding (MAPF) is NP-hard to solve optimally, even on graphs, suggesting no polynomial-time algorithms can compute exact optimal solutions for them. This raises a natural question: How optimal can polynomial-time algorithms…

We study the problem of allocating a set of indivisible items among agents whose preferences include externalities. Unlike the standard fair division model, agents may derive positive or negative utility not only from items allocated…

Motivated by exploration of communication-constrained underground environments using robot teams, we study the problem of planning for intermittent connectivity in multi-agent systems. We propose a novel concept of information-consistency…

The study addressed the problem of Anonymous Multi-Agent Path-finding (AMAPF). Unlike the classical formulation, where the assignment of agents to goals is fixed, in the anonymous MAPF setting it is irrelevant which agent reaches specific…

Retrieval data structures are data structures that answer key-value queries without paying the space overhead of explicitly storing keys. The problem can be formulated in four settings (static, value-dynamic, incremental, or dynamic), each…

Artificial intelligence has undergone immense growth and maturation in recent years, though autonomous systems have traditionally struggled when fielded in diverse and previously unknown environments. DARPA is seeking to change that with…

Creatures in the real world constantly encounter new and diverse challenges they have never seen before. They will often need to adapt to some of these tasks and solve them in order to survive. This almost endless world of novel challenges…

Two mobile agents (robots) with distinct labels have to meet in an arbitrary, possibly infinite, unknown connected graph or in an unknown connected terrain in the plane. Agents are modeled as points, and the route of each of them only…

The gathering over meeting nodes problem asks the robots to gather at one of the pre-defined meeting nodes. The robots are deployed on the nodes of an anonymous two-dimensional infinite grid which has a subset of nodes marked as meeting…

The rendezvous task calls for two mobile agents, starting from different nodes of a network modeled as a graph to meet at the same node. Agents have different labels which are integers from a set $\{1,\dots,L\}$. They wake up at possibly…

We give an improved lower bound of 10/3 on the competitive ratio for the exploration of an undirected, edge-weighted graph with a single agent that needs to return to the starting location after visiting all vertices. We assume that the…

In autonomous robot exploration, the frontier is the border in the world map between the explored space and unexplored space. The frontier plays an important role when deciding where in the environment the robots should go explore next. We…

A group of mobile agents is given a task to explore an edge-weighted graph $G$, i.e., every vertex of $G$ has to be visited by at least one agent. There is no centralized unit to coordinate their actions, but they can freely communicate…

In collective tree exploration, a team of $k$ mobile agents is tasked to go through all edges of an unknown tree as fast as possible. An edge of the tree is revealed to the team when one agent becomes adjacent to that edge. The agents start…

This paper considers the problem of adaptively searching for an unknown target using multiple agents connected through a time-varying network topology. Agents are equipped with sensors capable of fast information processing, and we propose…

We study the problem of treasure hunt in a graph by a mobile agent. The nodes in the graph are anonymous and the edges at any node $v$ of degree $deg(v)$ are labeled arbitrarily as $0,1,\ldots, deg(v)-1$. A mobile agent, starting from a…

It is well-known that the training of Deep Neural Networks (DNN) can be formalized in the language of optimal control. In this context, this paper leverages classical turnpike properties of optimal control problems to attempt a quantifiable…

We consider systems made of autonomous mobile robots evolving in highly dynamic discrete environment i.e., graphs where edges may appear and disappear unpredictably without any recurrence, stability, nor periodicity assumption. Robots are…

For the task of moving a set of indistinguishable agents on a connected graph with unit edge distance to an arbitrary set of goal vertices, free of collisions, we propose a fast distance optimal control algorithm that guides the agents into…

Two mobile agents, starting from different nodes of an $n$-node network at possibly different times, have to meet at the same node. This problem is known as rendezvous. Agents move in synchronous rounds using a deterministic algorithm. In…