ESO-MAPF: Bridging Discrete Planning and Continuous Execution in Multi-Agent Pathfinding

Multi-Agent Pathfinding with Simultaneous Execution of Single-Agent Primitives

Multi-agent pathfinding is a challenging combinatorial problem that involves multiple agents moving on a graph from a set of initial nodes to a set of desired goals without inter-agent collisions. Searching the composite space of all agents has exponential complexity and does not scale well. Decoupled methods are more efficient but are generally incomplete. There are, however, polynomial time a...

Bridging the Gap Between Centralised and Decentralised Multi-Agent Pathfinding

Multi-agent path planning involves navigating mobile units to their respective targets, while avoiding collisions with obstacles and other moving units in the shared environment. Since movement is fundamental to many task-performing intelligent agents, path planning has important real-life applications, including robotics, air traffic control, military operations, logistics, disaster rescue, an...

Title and Subtitle Maple : Multi - Agent Planning , Learning , and Execution

Optimal Multi-Agent Pathfinding Algorithms

The multi-agent path finding (MAPF) problem is a generalization of the single-agent path finding problem for k > 1 agents. It consists of a graph and a number of agents. For each agent, a unique start state and a unique goal state are given, and the task is to find paths for all agents from their start states to their goal states, under the constraint that agents cannot collide during their mov...

Fast and Memory-Efficient Multi-Agent Pathfinding

Multi-agent path planning has been shown to be a PSPACEhard problem. Running a complete search such as A* at the global level is often intractable in practice, since both the number of states and the branching factor grow exponentially as the number of mobile units increases. In addition to the inherent difficulty of the problem, in many real-life applications such as computer games, solutions ...