4 papers
Lifelong Multi-Subsystem Pickup and Delivery with Buffer-Limited Handover Stations
Chuanlong Zang, Isabelle Barz, Anna Mannucci +3
Coordinating payload transfers between subsystems is a critical challenge in lifelong Multi-Agent Pickup and Delivery (MAPD). We study systems where agents are confined to separate…
GRACE: A Unified 2D Multi-Robot Path Planning Simulator & Benchmark for Grid, Roadmap, And Continuous Environments
Chuanlong Zang, Anna Mannucci, Isabelle Barz +3
Advancing Multi-Agent Pathfinding (MAPF) and Multi-Robot Motion Planning (MRMP) requires platforms that enable transparent, reproducible comparisons across modeling choices. Existi…
Adaptive Domain Modeling with Language Models: A Multi-Agent Approach to Task Planning
Harisankar Babu, Philipp Schillinger, Tamim Asfour
We introduce TAPAS (Task-based Adaptation and Planning using AgentS), a multi-agent framework that integrates Large Language Models (LLMs) with symbolic planning to solve complex t…
Diffeomorphic Obstacle Avoidance for Contractive Dynamical Systems via Implicit Representations
Ken-Joel Simmoteit, Philipp Schillinger, Leonel Rozo
Ensuring safety and robustness of robot skills is becoming crucial as robots are required to perform increasingly complex and dynamic tasks. The former is essential when performing…