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In a multi-agent pathfinding (MAPF) problem, agents need to navigate from their start to their goal locations without colliding into each other. There are various MAPF algorithms, including Windowed Hierarchical Cooperative A*, Flow…

Traditional approaches to training agents have generally involved a single, deterministic environment of minimal complexity to solve various tasks such as robot locomotion or computer vision. However, agents trained in static environments…

Agentic AI has significantly extended the capabilities of large language models (LLMs) by enabling complex reasoning and tool use. However, most existing frameworks are tailored to domains such as mathematics, coding, or web automation, and…

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…

The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…

This work pushes the boundaries of learning-based methods in autonomous robot exploration in terms of environmental scale and exploration efficiency. We present HEADER, an attention-based reinforcement learning approach with hierarchical…

This paper studies the problem of multi-agent trajectory prediction in crowded unknown environments. A novel energy function optimization-based framework is proposed to generate prediction trajectories. Firstly, a new energy function is…

In order to mitigate the long processing delay and high energy consumption of mobile augmented reality (AR) applications, mobile edge computing (MEC) has been recently proposed and is envisioned as a promising means to deliver better…

Maze navigation is a fundamental challenge in robotics, requiring agents to traverse complex environments efficiently. While the Deep Deterministic Policy Gradient (DDPG) algorithm excels in control tasks, its performance in maze navigation…

It is always a challenging task to service sudden events in non-convex and uncertain environments, and multi-agent coverage control provides a powerful theoretical framework to investigate the deployment problem of mobile robotic networks…

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…

The trajectory of AI development suggests that we will increasingly rely on agent-based systems composed of independently developed agents with different information, privileges, and tools. The success of these systems will critically…

Multi-agent systems (MAS) are foundational in simulating complex real-world scenarios involving autonomous, interacting entities. However, traditional MAS architectures often suffer from rigid coordination mechanisms and difficulty adapting…

Multi-robot autonomous exploration in an unknown environment is an important application in robotics.Traditional exploration methods only use information around frontier points or viewpoints, ignoring spatial information of unknown areas.…

Many multi-robot applications require tasks to be completed efficiently and in the correct order, so that downstream operations can proceed at the right time. Multi-agent path finding with precedence constraints (MAPF-PC) is a well-studied…

Intelligence agents and multi-agent systems play important roles in scenes like the control system of grouped drones, and multi-agent navigation and obstacle avoidance which is the foundational function of advanced application has great…

Although a number of solutions exist for the problems of coverage, search and target localization---commonly addressed separately---whether there exists a unified strategy that addresses these objectives in a coherent manner without being…

We study multi-agent coverage algorithms for autonomous monitoring and patrol in urban environments. We consider scenarios in which a team of flying agents uses downward facing cameras (or similar sensors) to observe the environment outside…

Multi-Agent Path-Finding (MAPF) focuses on the collaborative planning of paths for multiple agents within shared spaces, aiming for collision-free navigation. Conventional planning methods often overlook the presence of other agents, which…

Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…