74 citations · 197 across the 16 of their papers we have counts for
13 papers · 1 filter
Solving Multi-Agent Target Assignment and Path Finding with a Single Constraint Tree
Yimin Tang, Zhongqiang Ren, Jiaoyang Li +1
Combined Target-Assignment and Path-Finding problem (TAPF) requires simultaneously assigning targets to agents and planning collision-free paths for agents from their start locatio…
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…
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…
Symmetry Breaking for k-Robust Multi-Agent Path Finding
Zhe Chen, Daniel Harabor, Jiaoyang Li +1
During Multi-Agent Path Finding (MAPF) problems, agents can be delayed by unexpected events. To address such situations recent work describes k-Robust Conflict-BasedSearch (k-CBS):…
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…
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…
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…
Searching with Consistent Prioritization for Multi-Agent Path Finding
Hang Ma, Daniel Harabor, Peter J. Stuckey +2
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 fixe…
Multi-Agent Path Finding with Deadlines
Hang Ma, Glenn Wagner, Ariel Felner +3
We formalize Multi-Agent Path Finding with Deadlines (MAPF-DL). The objective is to maximize the number of agents that can reach their given goal vertices from their given start ve…
Multi-Agent Path Finding with Deadlines: Preliminary Results
Hang Ma, Glenn Wagner, Ariel Felner +3
We formalize the problem of multi-agent path finding with deadlines (MAPF-DL). The objective is to maximize the number of agents that can reach their given goal vertices from their…
Lifelong Multi-Agent Path Finding for Online Pickup and Delivery Tasks
Hang Ma, Jiaoyang Li, T. K. Satish Kumar +1
The multi-agent path-finding (MAPF) problem has recently received a lot of attention. However, it does not capture important characteristics of many real-world domains, such as aut…