相关论文: S$^*$: A Heuristic Information-Based Approximation…
Rectified Flow (RF) models achieve state-of-the-art generation quality, yet controlling them for precise tasks -- such as semantic editing or blind image recovery -- remains a challenge. Current approaches bifurcate into inversion-based…
We formalize the problem of multi-agent path finding with deadlines (MAPF-DL). The objective is to maximize the number of agents that can reach their given goal vertices from their given start vertices within a given deadline, without…
Multi-Agent Path Finding (MAPF) is essential to large-scale robotic systems. Recent methods have applied reinforcement learning (RL) to learn decentralized polices in partially observable environments. A fundamental challenge of obtaining…
Several recently developed Multi-Agent Path Finding (MAPF) solvers scale to large MAPF instances by searching for MAPF plans on 2 levels: The high-level search resolves collisions between agents, and the low-level search plans paths for…
Traditional multi-agent path finding (MAPF) methods try to compute entire start-goal paths which are collision free. However, computing an entire path can take too long for MAPF systems where agents need to replan fast. Methods that address…
In this paper, a heuristic for a heterogeneous min-max multi-vehicle multi-depot traveling salesman problem is proposed, wherein heterogeneous vehicles start from given depot locations and need to cover a given set of targets. In the…
A fundamental variant of the classical traveling salesman problem (TSP) is the so-called multiple TSP (mTSP), where a set of $m$ salesmen jointly visit all cities from a set of $n$ cities. The mTSP models many important real-life…
In modern fulfillment warehouses, agents traverse the map to complete endless tasks that arrive on the fly, which is formulated as a lifelong Multi-Agent Path Finding (lifelong MAPF) problem. The goal of tackling this challenging problem is…
Multi-robot path finding in dynamic environments is a highly challenging classic problem. In the movement process, robots need to avoid collisions with other moving robots while minimizing their travel distance. Previous methods for this…
The moving target traveling salesman problem with obstacles (MT-TSP-O) seeks an obstacle-free trajectory for an agent that intercepts a given set of moving targets, each within specified time windows, and returns to the agent's starting…
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…
In this article, a heuristic is proposed for a min-max heterogeneous multi-vehicle multi-depot traveling salesman problem (TSP), wherein heterogeneous vehicles start from given depot positions and need to cover a given set of targets. The…
Facility and covering location models are key elements in many decision aid tools in logistics, supply chain design, telecommunications, public infrastructure planning, and many other industrial and public sectors. In many applications, it…
The path version of the Traveling Salesman Problem is one of the most well-studied variants of the ubiquitous TSP. Its generalization, the Multi-Path TSP, has recently been used in the best known algorithm for path TSP by Traub and Vygen…
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…
Many real-world applications require decision-makers to assess the quality of solutions while considering multiple conflicting objectives. Obtaining good approximation sets for highly constrained many-objective problems is often a difficult…
Solving the Multi-Agent Path Finding (MAPF) problem optimally is known to be NP-Hard for both make-span and total arrival time minimization. While many algorithms have been developed to solve MAPF problems, there is no dominating optimal…
The Multi-Objective Vehicle Routing Problem (MOVRP) is a complex optimization problem in the transportation and logistics industry. This paper proposes a novel approach to the MOVRP that aims to create routes that consider drivers' and…
This paper considers multi-goal motion planning in unstructured, obstacle-rich environments where a robot is required to reach multiple regions while avoiding collisions. The planned motions must also satisfy the differential constraints…
Existing neural methods for the Travelling Salesman Problem (TSP) mostly aim at finding a single optimal solution. To discover diverse yet high-quality solutions for Multi-Solution TSP (MSTSP), we propose a novel deep reinforcement learning…