相关论文: Multi-agent Planning for thermalling gliders using…

In this work we study a well-known and challenging problem of Multi-agent Pathfinding, when a set of agents is confined to a graph, each agent is assigned a unique start and goal vertices and the task is to find a set of collision-free…

In this paper, we plan missions for a fleet of agents in undirected graphs, such as grids, with multiple goals. In contrast to regular multi-agent path-finding, the solver finds and updates the assignment of goals to the agents on its own.…

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…

In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…

Conflict-Based Search is one of the most popular methods for multi-agent path finding. Though it is complete and optimal, it does not scale well. Recent works have been proposed to accelerate it by introducing various heuristics. However,…

Travel sharing, i.e., the problem of finding parts of routes which can be shared by several travellers with different points of departure and destinations, is a complex multiagent problem that requires taking into account individual agents'…

Multi-agent pathfinding (MAPF) is the problem of finding a set of conflict-free paths for a set of agents. Typically, the agents' moves are limited to a pre-defined graph of possible locations and allowed transitions between them, e.g. a…

In this paper a deep reinforcement based multi-agent path planning approach is introduced. The experiments are realized in a simulation environment and in this environment different multi-agent path planning problems are produced. The…

In this paper we schedule the travel path of a set of drones across a graph where the nodes need to be visited multiple times at pre-defined points in time. This is an extension of the well-known multiple traveling salesman problem. The…

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…

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…

Coordinating agents through hazardous environments, such as aid-delivering drones navigating conflict zones or field robots traversing deployment areas filled with obstacles, poses fundamental planning challenges. We introduce and analyze…

We study a novel graph path planning problem for multiple agents that may crash at runtime, and block part of the workspace. In our setting, agents can detect neighboring crashed agents, and change followed paths at runtime. The objective…

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,…

In this paper we tackle the problem of routing multiple agents in a coordinated manner. This is a complex problem that has a wide range of applications in fleet management to achieve a common goal, such as mapping from a swarm of robots and…

By starting with the assumption that motion is fundamentally a decision making problem, we use the world-line concept from Special Relativity as the inspiration for a novel multi-agent path planning method. We have identified a particular…

In multi-agent applications such as surveillance and logistics, fleets of mobile agents are often expected to coordinate and safely visit a large number of goal locations as efficiently as possible. The multi-agent planning problem in these…

In this work we consider the multi-agent motion planning (MAMP) problem with the constraint that agents arrive at their respective goals at the same time. For the special case where all agents are initially at rest we propose a two-step…

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 present a multi-scale forward search algorithm for distributed agents to solve single-query shortest path planning problems. Each agent first builds a representation of its own search space of the common environment as a multi-resolution…