相关论文: A Real-Time Rescheduling Algorithm for Multi-robot…

Multi-Agent Path Finding (MAPF) focuses on planning collision-free paths for multiple agents. However, during the execution of a MAPF plan, agents may encounter unexpected delays, which can lead to inefficiencies, deadlocks, or even…

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…

During the execution of Multi-Agent Path Finding (MAPF) plans in real-life applications, the MAPF assumption that the fleet's movement is perfectly synchronized does not apply. Since one or more of the agents may become delayed due to…

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…

Efficiently solving path planning problems for a large number of robots is critical to the successful operation of modern warehouses. The existing approaches adopt classical shortest path algorithms to plan in environments whose cells are…

Path planning in the multi-robot system refers to calculating a set of actions for each robot, which will move each robot to its goal without conflicting with other robots. Lately, the research topic has received significant attention for…

Executing a multi-agent plan can be challenging when an agent is delayed, because this typically creates conflicts with other agents. So, we need to quickly find a new safe plan. Replanning only the delayed agent often does not yield an…

This study explores the problem of Multi-Agent Path Finding with continuous and stochastic travel times whose probability distribution is unknown. Our purpose is to manage a group of automated robots that provide package delivery services…

We propose a distributed planning method with asynchronous execution for multi-agent pickup and delivery (MAPD) problems for environments with occasional delays in agents' activities and flexible endpoints. MAPD is a crucial problem…

Expressing attack-defence trees in a multi-agent setting allows for studying a new aspect of security scenarios, namely how the number of agents and their task assignment impact the performance, e.g. attack time, of strategies executed by…

We present a multi-scale forward search algorithm for distributed agents to solve single-query shortest path planning problems. Each agent first builds a representation of its own search space of the common environment as a multi-resolution…

In this work, we study the multi-agent decision problem where agents try to coordinate to optimize a given system-level objective. While solving for the global optimal is intractable in many cases, the greedy algorithm is a well-studied and…

We present alternative approaches to routing and scheduling in Answer Set Programming (ASP), and explore them in the context of Multi-agent Path Finding. The idea is to capture the flow of time in terms of partial orders rather than time…

Multi-agent path finding (MAPF) determines an ensemble of collision-free paths for multiple agents between their respective start and goal locations. Among the available MAPF planners for workspace modeled as a graph, A*-based approaches…

To plan the trajectories of a large-scale heterogeneous swarm, sequentially or synchronously distributed methods usually become intractable due to the lack of global clock synchronization. To this end, we provide a novel asynchronous…

Multi-Agent Path Finding (MAPF) seeks collision-free paths for multiple agents from their respective starting locations to their respective goal locations while minimizing path costs. Although many MAPF algorithms were developed and can…

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 a Multi-Agent Path Finding (MAPF) setting where agents have been assigned a plan, but during its execution some agents are delayed. Instead of replanning from scratch when such a delay occurs, we propose delay introduction,…

We study the iterative refinement of path planning for multiple robots, known as multi-agent pathfinding (MAPF). Given a graph, agents, their initial locations, and destinations, a solution of MAPF is a set of paths without collisions.…

In this paper we present an algorithm for optimal processing of time-dependent sequenced route queries in road networks, i.e., given a road network where the travel time over an edge is time-dependent and a given ordered list of categories…