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Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics, requiring the computation of collision-free paths for multiple agents moving from their respective start to goal positions. Coordinating multiple agents in a shared…

Multi-agent pathfinding (MAPF) is concerned with planning collision-free paths for a team of agents from their start to goal locations in an environment cluttered with obstacles. Typical approaches for MAPF consider the locations of…

Multi-Agent Path Finding has been widely studied in the past few years due to its broad application in the field of robotics and AI. However, previous solvers rely on several simplifying assumptions. They limit their applicability in…

Anytime multi-agent path finding (MAPF) is a promising approach to scalable path optimization in large-scale multi-agent systems. State-of-the-art anytime MAPF is based on Large Neighborhood Search (LNS), where a fast initial solution is…

Multi-Agent Path finding (MAPF) is the problem of finding paths for a set of agents such that each agent reaches its desired destination while avoiding collisions with the other agents. This problem arises in many robotics applications,…

Symmetry in finite model finding problems of many-sorted first-order logic (MSFOL) can be exploited to reduce the number of interpretations considered during search, thereby improving solver performance. In this thesis, we situate symmetry…

Multi-agent path finding (MAPF) is the problem of moving agents to the goal vertex without collision. In the online MAPF problem, new agents may be added to the environment at any time, and the current agents have no information about…

We consider an Anonymous Multi-Agent Path-Finding (AMAPF) problem where the set of agents is confined to a graph, a set of goal vertices is given and each of these vertices has to be reached by some agent. The problem is to find an…

We present an algorithm for finding optimal paths for multiple stochastic agents in a graph to reach their destinations with a user-specified maximum pairwise collision probability. Our algorithm, called STT-CBS, uses Conflict-Based Search…

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…

Deploying multi-robot systems in environments shared with dynamic and uncontrollable agents presents significant challenges, especially for large robot fleets. In such environments, individual robot operations can be delayed due to…

This paper presents a multi-robot kinodynamic motion planner that enables a team of robots with different dynamics, actuation limits, and shapes to reach their goals in challenging environments. We solve this problem by combining…

In Lifelong Multi-Agent Path Finding (L-MAPF) a team of agents performs a stream of tasks consisting of multiple locations to be visited by the agents on a shared graph while avoiding collisions with one another. L-MAPF is typically tackled…

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…

In this work, we introduce CPLASS (Continuous Piecewise-Linear Approximation via Stochastic Search), an algorithm for detecting changes in velocity within multidimensional data. The one-dimensional version of this problem is known as the…

We present a unified framework for proving memory lower bounds for multi-pass streaming algorithms that detect planted structures. Planted structures -- such as cliques or bicliques in graphs, and sparse signals in high-dimensional data --…

The $k$-defective clique model relaxes the strict completeness constraint of the traditional clique by allowing up to $k$ missing edges, providing a robust formulation for detecting cohesive structures in noisy graphs. Consequently, the…

In high-density environments where numerous autonomous agents move simultaneously in a distributed manner, streamlining global flows to mitigate local congestion is crucial to maintain overall navigation efficiency. This paper introduces a…

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…

This paper investigates a problem called Multi-Agent Path Finding with Elevators (MAPF-E), which seeks conflict-free paths for multiple agents from their start to goal locations that may locate on different floors, and the agents can use…