2 papers
cs.RO2025
A Scalable Post-Processing Pipeline for Large-Scale Free-Space Multi-Agent Path Planning with PiBT
Arjo Chakravarty, Michael X. Grey, M. A. Viraj J. Muthugala +1
Free-space multi-agent path planning remains challenging at large scales. Most existing methods either offer optimality guarantees but do not scale beyond a few dozen agents, or re…
cs.RO2024
Time-Ordered Ad-hoc Resource Sharing for Independent Robotic Agents
Arjo Chakravarty, Michael X. Grey, M. A. Viraj J. Muthugala +1
Resource sharing is a crucial part of a multi-robot system. We propose a Boolean satisfiability based approach to resource sharing. Our key contributions are an algorithm for conve…