Papers Multi-Agent Path Finding
“Multi-Agent Path Finding” 태그가 달린 논문 140편 · 필터 해제
Subdimensional Expansion for Multi-objective Multi-agent Path Finding
Conventional multi-agent path planners typically determine a path that optimizes a single objective, such as path length. Many applications, however, may require multiple objectives, say time-to-completion and fuel use, …
Computational EfficiencyMulti-Agent Path FindingImproving Continuous-time Conflict Based Search
Conflict-Based Search (CBS) is a powerful algorithmic framework for optimally solving classical multi-agent path finding (MAPF) problems, where time is discretized into the time steps. Continuous-time CBS (CCBS) is a rec…
Multi-Agent Path FindingA Conflict-Based Search Framework for Multi-Objective Multi-Agent Path Finding
Conventional multi-agent path planners typically compute an ensemble of paths while optimizing a single objective, such as path length. However, many applications may require multiple objectives, say fuel consumption and…
Multi-Agent Path FindingLearning to Resolve Conflicts for Multi-Agent Path Finding with Conflict-Based Search
Conflict-Based Search (CBS) is a state-of-the-art algorithm for multi-agent path finding. At the high level, CBS repeatedly detects conflicts and resolves one of them by splitting the current problem into two subproblems…
Multi-Agent Path FindingLearning to Select Nodes in Bounded Suboptimal Conflict-Based Search for Multi-Agent Path Finding
Multi-Agent Path Finding is an NP-hard problem that is difficult for current approaches to solve optimally. Research has shown that bounded suboptimal solvers, such as Enhanced Conflict-Based Search (ECBS), are more effi…
Imitation LearningMulti-Agent Path FindingA Feedback Scheme to Reorder a Multi-Agent Execution Schedule by Persistently Optimizing a Switchable Action Dependency Graph
In this paper we consider multiple Automated Guided Vehicles (AGVs) navigating a common workspace to fulfill various intralogistics tasks, typically formulated as the Multi-Agent Path Finding (MAPF) problem. To keep plan…
ManagementMulti-Agent Path FindingEECBS: A Bounded-Suboptimal Search for Multi-Agent Path Finding
Multi-Agent Path Finding (MAPF), i.e., finding collision-free paths for multiple robots, is important for many applications where small runtimes are necessary, including the kind of automated warehouses operated by Amazo…
Multi-Agent Path FindingDynamic Multi-Agent Path Finding based on Conflict Resolution using Answer Set Programming
We study a dynamic version of multi-agent path finding problem (called D-MAPF) where existing agents may leave and new agents may join the team at different times. We introduce a new method to solve D-MAPF based on confl…
Multi-Agent Path FindingMulti Agent Path Finding with Awareness for Spatially Extended Agents
Path finding problems involve identification of a plan for conflict free movement of agents over a common road network. Most approaches to this problem handle the agents as point objects, wherein the size of the agent is…
Multi-Agent Path FindingMulti-Goal Multi-Agent Path Finding via Decoupled and Integrated Goal Vertex Ordering
We introduce multi-goal multi agent path finding (MAPF$^{MG}$) which generalizes the standard discrete multi-agent path finding (MAPF) problem. While the task in MAPF is to navigate agents in an undirected graph from the…
Heuristic SearchMulti-Agent Path FindingNavigateExplanation Generation for Multi-Modal Multi-Agent Path Finding with Optimal Resource Utilization using Answer Set Programming
The multi-agent path finding (MAPF) problem is a combinatorial search problem that aims at finding paths for multiple agents (e.g., robots) in an environment (e.g., an autonomous warehouse) such that no two agents collid…
Explanation GenerationMulti-Agent Path FindingResolving Head-On Conflicts for Multi-Agent Path Finding with Conflict-Based Search
Conflict-Based Search (CBS) is a popular framework for solving the Multi-Agent Path Finding problem. Some of the conflicts incur a foreseeable conflict in one or both of the children nodes when splitting on them. This pa…
Multi-Agent Path FindingConflict-Based Search for Connected Multi-Agent Path Finding
We study a variant of the multi-agent path finding problem (MAPF) in which agents are required to remain connected to each other and to a designated base. This problem has applications in search and rescue missions where…
Multi-Agent Path FindingLifelong Multi-Agent Path Finding in Large-Scale Warehouses
Multi-Agent Path Finding (MAPF) is the problem of moving a team of agents to their goal locations without collisions. In this paper, we study the lifelong variant of MAPF, where agents are constantly engaged with new goa…
Multi-Agent Path FindingPushing the Envelope: From Discrete to Continuous Movements in Multi-Agent Path Finding via Lazy Encodings
Multi-agent path finding in continuous space and time with geometric agents MAPF$^\mathcal{R}$ is addressed in this paper. The task is to navigate agents that move smoothly between predefined positions to their individua…
Multi-Agent Path FindingNavigateA Job-Assignment Heuristic for Lifelong Multi-Agent Path Finding Problem with Multiple Delivery Locations
In this paper we proposed multiple job-assignment heuristics to generate low-total-cost solutions and determine the best performing method amongst them.
Multi-Agent Path FindingOptimized Directed Roadmap Graph for Multi-Agent Path Finding Using Stochastic Gradient Descent
We present a novel approach called Optimized Directed Roadmap Graph (ODRM). It is a method to build a directed roadmap graph that allows for collision avoidance in multi-robot navigation. This is a highly relevant proble…
Collision AvoidanceMulti-Agent Path FindingNavigateRobot NavigationOptimizing Cooperative path-finding: A Scalable Multi-Agent RRT* with Dynamic Potential Fields
Cooperative path-finding in multi-agent systems demands scalable solutions to navigate agents from their origins to destinations without conflict. Despite the breadth of research, scalability remains hampered by increase…
Computational EfficiencyMulti-Agent Path FindingNavigateMulti-Agent Path Finding with Capacity Constraints
In multi-agent path finding (MAPF) the task is to navigate agents from their starting positions to given individual goals. The problem takes place in an undirected graph whose vertices represent positions and edges defin…
Multi-Agent Path FindingNavigateOn the Tour Towards DPLL(MAPF) and Beyond
We discuss milestones on the tour towards DPLL(MAPF), a multi-agent path finding (MAPF) solver fully integrated with the Davis-Putnam-Logemann-Loveland (DPLL) propositional satisfiability testing algorithm through satisf…
Multi-Agent Path FindingNavigate