相关论文: RDE: A Hybrid Policy Framework for Multi-Agent Pat…

We present an algorithm for a multi-agent path planning problem with pattern coordination based on dynamic programming and a Hamilton-Jacobi-Bellman equation. This falls broadly into the class of partial differential equation (PDE) based…

In this letter, an integrated task planning and reactive motion planning framework termed Multi-FLEX is presented that targets real-world, industrial multi-robot applications. Reactive motion planning has been attractive for the purposes of…

Centralized training with decentralized execution (CTDE) is a standard framework for cooperative multi-agent policy-gradient reinforcement learning, allowing agents to learn from joint information while acting from local observations.…

Deep reinforcement learning (DRL) has a great potential for solving complex decision-making problems in autonomous driving, especially in mixed-traffic scenarios where autonomous vehicles and human-driven vehicles (HDVs) drive together.…

Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing. Local…

Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited inter-agent communication and static and dynamic obstacles.…

The Multi-Agent Pickup and Delivery (MAPD) problem models applications where a large number of agents attend to a stream of incoming pickup-and-delivery tasks. Token Passing (TP) is a recent MAPD algorithm that is efficient and effective.…

Traffic optimization challenges, such as load balancing, flow scheduling, and improving packet delivery time, are difficult online decision-making problems in wide area networks (WAN). Complex heuristics are needed for instance to find…

This paper presents an extension of the Mirror Descent method to overcome challenges in cooperative Multi-Agent Reinforcement Learning (MARL) settings, where agents have varying abilities and individual policies. The proposed…

The growing interest in human-robot collaboration (HRC), where humans and robots cooperate towards shared goals, has seen significant advancements over the past decade. While previous research has addressed various challenges, several key…

This paper proposes a highly robust autonomous agent framework based on the ReAct paradigm, designed to solve complex tasks through adaptive decision making and multi-agent collaboration. Unlike traditional frameworks that rely on fixed…

We study the problem of optimizing a guidance policy capable of dynamically guiding the agents for lifelong Multi-Agent Path Finding based on real-time traffic patterns. Multi-Agent Path Finding (MAPF) focuses on moving multiple agents from…

In this paper, we consider the multi-robot path execution problem where a group of robots move on predefined paths from their initial to target positions while avoiding collisions and deadlocks in the face of asynchrony. We first show that…

In lifelong multi-agent path finding (MAPF) with many robots, unreliable wireless links and stochastic executions are the norm. Existing approaches typically either rely on centralized planning under idealized communication, or run fully…

Multi-Agent Pickup and Delivery (MAPD) is the problem of computing collision-free paths for a group of agents such that they can safely reach delivery locations from pickup ones. These locations are provided at runtime, making MAPD a…

Multi-agent path finding (MAPF) is an active area in artificial intelligence, which has many real-world applications such as warehouse management, traffic control, robotics, etc. Recently, M* and its variants have greatly improved the…

With the explosive influence caused by the success of large language models (LLM) like ChatGPT and GPT-4, there has been an extensive amount of recent work showing that foundation models can be used to solve a large variety of tasks.…

We present a novel reinforcement learning based algorithm for multi-robot task allocation problem in warehouse environments. We formulate it as a Markov Decision Process and solve via a novel deep multi-agent reinforcement learning method…

Deep reinforcement learning (RL) is a promising approach to solving complex robotics problems. However, the process of learning through trial-and-error interactions is often highly time-consuming, despite recent advancements in RL…

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…