Papers Multi-Agent Path Finding
“Multi-Agent Path Finding” 태그가 달린 논문 140편 · 필터 해제
Enhancing Lifelong Multi-Agent Path-finding by Using Artificial Potential Fields
We explore the use of Artificial Potential Fields (APFs) to solve Multi-Agent Path Finding (MAPF) and Lifelong MAPF (LMAPF) problems. In MAPF, a team of agents must move to their goal locations without collisions, wherea…
Multi-Agent Path FindingWhere Paths Collide: A Comprehensive Survey of Classic and Learning-Based Multi-Agent Pathfinding
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 …
BenchmarkingMulti-Agent Path FindingMulti-Agent Path Finding For Large Agents Is Intractable
The multi-agent path finding (MAPF) problem asks to find a set of paths on a graph such that when synchronously following these paths the agents never encounter a conflict. In the most widespread MAPF formulation, the so…
Multi-Agent Path FindingAnytime Single-Step MAPF Planning with Anytime PIBT
PIBT is a popular Multi-Agent Path Finding (MAPF) method at the core of many state-of-the-art MAPF methods including LaCAM, CS-PIBT, and WPPL. The main utility of PIBT is that it is a very fast and effective single-step …
Multi-Agent Path FindingReal-Time LaCAM
The vast majority of Multi-Agent Path Finding (MAPF) methods with completeness guarantees require planning full horizon paths. However, planning full horizon paths can take too long and be impractical in real-world appli…
Multi-Agent Path FindingPrioritized Planning for Continuous-time Lifelong Multi-agent Pathfinding
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.…
Multi-Agent Path FindingRAILGUN: A Unified Convolutional Policy for Multi-Agent Path Finding Across Different Environments and Tasks
Multi-Agent Path Finding (MAPF), which focuses on finding collision-free paths for multiple robots, is crucial for applications ranging from aerial swarms to warehouse automation. Solving MAPF is NP-hard so learning-base…
Multi-Agent Path FindingZero-shot GeneralizationAccelerating Focal Search in Multi-Agent Path Finding with Tighter Lower Bounds
Multi-Agent Path Finding (MAPF) involves finding collision-free paths for multiple agents while minimizing a cost function--an NP-hard problem. Bounded suboptimal methods like Enhanced Conflict-Based Search (ECBS) and Ex…
Computational EfficiencyMulti-Agent Path FindingvalidSIGMA: Sheaf-Informed Geometric Multi-Agent Pathfinding
The Multi-Agent Path Finding (MAPF) problem aims to determine the shortest and collision-free paths for multiple agents in a known, potentially obstacle-ridden environment. It is the core challenge for robotic deployment…
Collision AvoidanceDeep Reinforcement LearningMulti-Agent Path FindingSelf-Supervised LearningA parallelizable variant of HCA*
This paper presents a parallelizable variant of the well-known Hierarchical Cooperative A* algorithm (HCA*) for the multi-agent path finding (MAPF) problem. In this variant, all agents initially find their shortest paths…
Multi-Agent Path FindingHybrid Quantum-Classical Multi-Agent Pathfinding
Multi-Agent Path Finding (MAPF) focuses on determining conflict-free paths for multiple agents navigating through a shared space to reach specified goal locations. This problem becomes computationally challenging, partic…
Autonomous VehiclesMulti-Agent Path FindingGraph Coloring to Reduce Computation Time in Prioritized Planning
Distributing computations among agents in large networks reduces computational effort in multi-agent path finding (MAPF). One distribution strategy is prioritized planning (PP). In PP, we couple and prioritize interactin…
Motion PlanningMulti-Agent Path FindingSimultaneous Computation with Multiple Prioritizations in Multi-Agent Motion Planning
Multi-agent path finding (MAPF) in large networks is computationally challenging. An approach for MAPF is prioritized planning (PP), in which agents plan sequentially according to their priority. Albeit a computationally…
Motion PlanningMulti-Agent Path FindingEnhancing Lifelong Multi-Agent Path Finding with Cache Mechanism
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 targ…
Multi-Agent Path FindingMulti-Agent Path Finding under Limited Communication Range Constraint via Dynamic Leading
This paper proposes a novel framework to handle a multi-agent path finding problem under a limited communication range constraint, where all agents must have a connected communication channel to the rest of the team. Man…
Multi-Agent Path FindingMulti-Agent Path Finding in Continuous Spaces with Projected Diffusion Models
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 agen…
Collision AvoidanceMulti-Agent Path FindingNavigateSpeedup Techniques for Switchable Temporal Plan Graph Optimization
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, deadlo…
Multi-Agent Path FindingMulti-Agent Motion Planning For Differential Drive Robots Through Stationary State Search
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…
ManagementMotion PlanningMulti-Agent Path FindingLoosely Synchronized Rule-Based Planning for Multi-Agent Path Finding with Asynchronous Actions
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 d…
Multi-Agent Path FindingTransient Multi-Agent Path Finding for Lifelong Navigation in Dense Environments
Multi-Agent Path Finding (MAPF) deals with finding conflict-free paths for a set of agents from an initial configuration to a given target configuration. The Lifelong MAPF (LMAPF) problem is a well-studied online version…
Multi-Agent Path Finding