相关论文: Introducing Delays in Multi-Agent Path Finding

Action and observation delays exist prevalently in the real-world cyber-physical systems which may pose challenges in reinforcement learning design. It is particularly an arduous task when handling multi-agent systems where the delay of one…

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…

Distributing computations among agents in large networks reduces computational effort in multi-agent path finding (MAPF). One distribution strategy is prioritized planning (PP). In PP, we couple and prioritize interacting agents to achieve…

We introduce the Cooperative Multi-Agent Path Finding (Co-MAPF) problem, an extension to the classical MAPF problem, where cooperative behavior is incorporated. In this setting, a group of autonomous agents operate in a shared environment…

Multi-agent path finding (MAPF) is an indispensable component of large-scale robot deployments in numerous domains ranging from airport management to warehouse automation. In particular, this work addresses lifelong MAPF (LMAPF) - an online…

We study the planning and acting phase for the problem of multi-agent path finding (MAPF) in this paper. MAPF is a problem of navigating agents from their start positions to specified individual goal positions so that agents do not collide…

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…

In this paper we study a challenging variant of the multi-agent pathfinding problem (MAPF), when a set of agents must reach a set of goal locations, but it does not matter which agent reaches a specific goal - Anonymous MAPF (AMAPF).…

Multi-agent path finding (MAPF) is an abstract model for the navigation of multiple robots in warehouse automation, where multiple robots plan collision-free paths from the start to goal positions. Reinforcement learning (RL) has been…

Among sub-optimal MAPF solvers, rule-based algorithms are particularly appealing since they are complete. Even in crowded scenarios, they allow finding a feasible solution that brings each agent to its target, preventing deadlock…

Multi-Agent Path Finding (MAPF) involves finding collision-free paths for multiple agents while minimizing a cost function--an NP-hard problem. Bounded suboptimal methods like Enhanced Conflict-Based Search (ECBS) and Explicit Estimation…

Distributed Multi-Agent Path Finding (MAPF) integrated with Multi-Agent Reinforcement Learning (MARL) has emerged as a prominent research focus, enabling real-time cooperative decision-making in partially observable environments through…

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…

We study the TAPF (combined target-assignment and path-finding) problem for teams of agents in known terrain, which generalizes both the anonymous and non-anonymous multi-agent path-finding problems. Each of the teams is given the same…

Multi-Agent Path Finding (MAPF) is a fundamental problem in artificial intelligence and robotics, requiring the computation of collision-free paths for multiple agents navigating from their start locations to designated goals. As autonomous…

In multi-agent search planning for a randomly moving and camouflaging target, we examine heterogeneous searchers that differ in terms of their endurance level, travel speed, and detection ability. This leads to a convex mixed-integer…

The Multi-Agent Pathfinding (MAPF) problem involves finding a set of conflict-free paths for a group of agents confined to a graph. In typical MAPF scenarios, the graph and the agents' starting and ending vertices are known beforehand,…

Multi-agent path planning is a challenging problem with numerous real-life applications. Running a centralized search such as A* in the combined state space of all units is complete and cost-optimal, but scales poorly, as the state space…

In cooperative Multi-Agent Planning (MAP), a set of goals has to be achieved by a set of agents. Independently of whether they perform a pre-assignment of goals to agents or they directly search for a solution without any goal assignment,…

Multi-agent planning (MAP) approaches are typically oriented at solving loosely-coupled problems, being ineffective to deal with more complex, strongly-related problems. In most cases, agents work under complete information, building…