相关论文: Space-Time Conflict Spheres for Constrained Multi-…

Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…

This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…

Multi-Agent Path Finding (MAPF) is a long-standing problem in Robotics and Artificial Intelligence in which one needs to find a set of collision-free paths for a group of mobile agents (robots) operating in the shared workspace. Due to its…

This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…

Multi-Agent Path Finding (MAPF) requires collision-free trajectories for multiple agents on a shared graph, often with the objective of minimizing the sum-of-costs (SOC). Many optimal and bounded-suboptimal solvers rely on time-expanded…

Multi-Agent Motion Planning (MAMP) finds various applications in fields such as traffic management, airport operations, and warehouse automation. In many of these environments, differential drive robots are commonly used. These robots have…

Multi-Agent Path Finding (MAPF) is the problem of finding collision-free paths for multiple agents from their start locations to end locations. We consider an extension to this problem, Precedence Constrained Multi-Agent Path Finding…

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…

Multi-agent path planning (MAPP) in continuous spaces is a challenging problem with significant practical importance. One promising approach is to first construct graphs approximating the spaces, called roadmaps, and then apply multi-agent…

We present a novel algorithm for large-scale Multi-Agent Path Finding (MAPF) that enables fast, scalable planning in dynamic environments such as automated warehouses. Our approach introduces finite-horizon hierarchical factorization, a…

We introduce PRISM (Pathfinding with Rapid Information Sharing using Motion Constraints), a decentralized algorithm designed to address the multi-task multi-agent pathfinding (MT-MAPF) problem. PRISM enables large teams of agents to…

The paper considers the problem of planning a set of non-conflict trajectories for the coalition of intelligent agents (mobile robots). Two divergent approaches, e.g. centralized and decentralized, are surveyed and analyzed. Decentralized…

In this article, we report on the efficiency and effectiveness of multiagent reinforcement learning methods (MARL) for the computation of flight delays to resolve congestion problems in the Air Traffic Management (ATM) domain. Specifically,…

Conflict-Based Search (CBS) is a powerful algorithmic framework for optimally solving classical multi-agent path finding (MAPF) problems, where time is discretized into the time steps. Continuous-time CBS (CCBS) is a recently proposed…

Multi Agent Path Finding (MAPF) seeks the optimal set of paths for multiple agents from respective start to goal locations such that no paths conflict. We address the MAPF problem for a fleet of hybrid-fuel unmanned aerial vehicles which…

Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…

Multi-agent pathfinding (MAPF) remains a critical problem in robotics and autonomous systems, where agents must navigate shared spaces efficiently while avoiding conflicts. Traditional centralized algorithms with global information provide…

We present a novel framework for addressing the challenges of multi-Agent planning and formation control within intricate and dynamic environments. This framework transforms the Multi-Agent Path Finding (MAPF) problem into a Multi-Agent…

We address the problem of applying Task and Motion Planning (TAMP) in real world environments. TAMP combines symbolic and geometric reasoning to produce sequential manipulation plans, typically specified as joint-space trajectories, which…

Multi-vehicle trajectory planning is a non-convex problem that becomes increasingly difficult in dense environments due to the rapid growth of collision constraints. Efficient exploration of feasible behaviors and resolution of tight…