464 citations · 650 across the 16 of their papers we have counts for
19 papers
Cost Splitting for Multi-Objective Conflict-Based Search
Cheng Ge, Han Zhang, Jiaoyang Li +1
The Multi-Objective Multi-Agent Path Finding (MO-MAPF) problem is the problem of finding the Pareto-optimal frontier of collision-free paths for a team of agents while minimizing m…
A MIP-Based Approach for Multi-Robot Geometric Task-and-Motion Planning
Hejia Zhang, Shao-Hung Chan, Jie Zhong +3
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple rob…
Multi-Goal Multi-Agent Pickup and Delivery
Qinghong Xu, Jiaoyang Li, Sven Koenig +1
In this work, we consider the Multi-Agent Pickup-and-Delivery (MAPD) problem, where agents constantly engage with new tasks and need to plan collision-free paths to execute them. T…
Optimal and Bounded-Suboptimal Multi-Goal Task Assignment and Path Finding
Xinyi Zhong, Jiaoyang Li, Sven Koenig +1
We formalize and study the multi-goal task assignment and path finding (MG-TAPF) problem from theoretical and algorithmic perspectives. The MG-TAPF problem is to compute an assignm…
Cooperative Task and Motion Planning for Multi-Arm Assembly Systems
Jingkai Chen, Jiaoyang Li, Yijiang Huang +7
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs.…
Multi-Robot Routing with Time Windows: A Column Generation Approach
Naveed Haghani, Jiaoyang Li, Sven Koenig +4
Robots performing tasks in warehouses provide the first example of wide-spread adoption of autonomous vehicles in transportation and logistics. The efficiency of these operations,…
Pairwise Symmetry Reasoning for Multi-Agent Path Finding Search
Jiaoyang Li, Daniel Harabor, Peter J. Stuckey +1
Multi-Agent Path Finding (MAPF) is a challenging combinatorial problem that asks us to plan collision-free paths for a team of cooperative agents. In this work, we show that one of…
Learning to Resolve Conflicts for Multi-Agent Path Finding with Conflict-Based Search
Taoan Huang, Bistra Dilkina, Sven Koenig
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…
EECBS: A Bounded-Suboptimal Search for Multi-Agent Path Finding
Jiaoyang Li, Wheeler Ruml, Sven Koenig
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 o…
Integer Programming for Multi-Robot Planning: A Column Generation Approach
Naveed Haghani, Jiaoyang Li, Sven Koenig +3
We consider the problem of coordinating a fleet of robots in a warehouse so as to maximize the reward achieved within a time limit while respecting problem and robot specific const…
Embedding Directed Graphs in Potential Fields Using FastMap-D
Sriram Gopalakrishnan, Liron Cohen, Sven Koenig +1
Embedding undirected graphs in a Euclidean space has many computational benefits. FastMap is an efficient embedding algorithm that facilitates a geometric interpretation of problem…
Lifelong Multi-Agent Path Finding in Large-Scale Warehouses
Jiaoyang Li, Andrew Tinka, Scott Kiesel +3
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 ag…
Experimental Comparison of Global Motion Planning Algorithms for Wheeled Mobile Robots
Eric Heiden, Luigi Palmieri, Kai O. Arras +2
Planning smooth and energy-efficient motions for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Ove…
Idle Time Optimization for Target Assignment and Path Finding in Sortation Centers
Ngai Meng Kou, Cheng Peng, Hang Ma +2
In this paper, we study the one-shot and lifelong versions of the Target Assignment and Path Finding problem in automated sortation centers, where each agent needs to constantly as…
Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks
Roni Stern, Nathan Sturtevant, Ariel Felner +9
The MAPF problem is the fundamental problem of planning paths for multiple agents, where the key constraint is that the agents will be able to follow these paths concurrently witho…
Rapid Randomized Restarts for Multi-Agent Path Finding Solvers
Liron Cohen, Glenn Wagner, T. K. Satish Kumar +2
Multi-Agent Path Finding (MAPF) is an NP-hard problem well studied in artificial intelligence and robotics. It has many real-world applications for which existing MAPF solvers use…
The FastMap Algorithm for Shortest Path Computations
Liron Cohen, Tansel Uras, Shiva Jahangiri +3
We present a new preprocessing algorithm for embedding the nodes of a given edge-weighted undirected graph into a Euclidean space. The Euclidean distance between any two nodes in t…
Blue Sky Ideas in Artificial Intelligence Education from the EAAI 2017 New and Future AI Educator Program
Eric Eaton, Sven Koenig, Claudia Schulz +8
The 7th Symposium on Educational Advances in Artificial Intelligence (EAAI'17, co-chaired by Sven Koenig and Eric Eaton) launched the EAAI New and Future AI Educator Program to sup…
Theta*: Any-Angle Path Planning on Grids
Kenny Daniel, Alex Nash, Sven Koenig +1
Grids with blocked and unblocked cells are often used to represent terrain in robotics and video games. However, paths formed by grid edges can be longer than true shortest paths i…