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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…

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) has gained significant attention, with most research focusing on minimizing collisions and travel time. This paper also considers energy consumption in the path planning of automated guided vehicles (AGVs).…

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…

Multi-Agent Pickup and Delivery (MAPD) is a fundamental problem in robotics, particularly in applications such as warehouse automation and logistics. Existing solutions often face challenges in scalability, adaptability, and efficiency,…

The development and application of large language models (LLM) have demonstrated that foundational models can be utilized to solve a wide array of tasks. However, their performance in multi-agent path finding (MAPF) tasks has been less than…

We study prioritized planning for Multi-Agent Path Finding (MAPF). Existing prioritized MAPF algorithms depend on rule-of-thumb heuristics and random assignment to determine a fixed total priority ordering of all agents a priori. We instead…

Multi-Agent Path Finding in Continuous Time (\mapfr) extends the classical MAPF problem by allowing agents to operate in continuous time. Conflict-Based Search with Continuous Time (CCBS) is a foundational algorithm for solving \mapfr…

Multi-agent Path Finding (MAPF) is the problem of planning collision-free movements of agents so that they get from where they are to where they need to be. Commonly, agents are located on a graph and can traverse edges. This problem has…

Large Neighbourhood Search (LNS) is a powerful heuristic framework for solving Mixed-Integer Programming (MIP) problems. However, designing effective variable selection strategies in LNS remains challenging, especially for diverse sets of…

Multi-agent pathfinding (MAPF) under one-shot planning is a core component of warehouse automation, yet classical formulations typically assume four-connected 2D grids with unit-time moves in four directions. To fill reality gaps while…

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…

Large Neighborhood Search (LNS) is a universal approach that is broadly applicable and has proven to be highly efficient in practice for solving optimization problems. We propose to integrate machine learning (ML) into LNS to assist in…

Multi-Agent Path Finding (MAPF), which focuses on finding collision-free paths for multiple robots, is crucial in autonomous warehouse operations. Lifelong MAPF (L-MAPF), where agents are continuously reassigned new targets upon completing…

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…

Multi-Agent Reinforcement Learning (MARL) based Multi-Agent Path Finding (MAPF) has recently gained attention due to its efficiency and scalability. Several MARL-MAPF methods choose to use communication to enrich the information one agent…

This paper addresses a generalization of the well known multi-agent path finding (MAPF) problem that optimizes multiple conflicting objectives simultaneously such as travel time and path risk. This generalization, referred to as…

Dispatching vehicle fleets to serve flights is a key task in airport ground handling (AGH). Due to the notable growth of flights, it is challenging to simultaneously schedule multiple types of operations (services) for a large number of…

Multi-Agent Path Finding (MAPF), which involves finding collision-free paths for multiple robots, is crucial in various applications. Lifelong MAPF, where targets are reassigned to agents as soon as they complete their initial targets,…

Many real-world scenarios require multiple agents to coordinate in shared environments, while balancing trade-offs between multiple, potentially competing objectives. Current multi-objective multi-agent path finding (MO-MAPF) algorithms…