3 papers
cs.RO2025
Decentralized Uncertainty-Aware Multi-Agent Collision Avoidance with Model Predictive Path Integral
Stepan Dergachev, Konstantin Yakovlev
Decentralized multi-agent navigation under uncertainty is a complex task that arises in numerous robotic applications. It requires collision avoidance strategies that account for b…
cs.MA2024
Decentralized Unlabeled Multi-agent Pathfinding Via Target And Priority Swapping (With Supplementary)
Stepan Dergachev, Konstantin Yakovlev
In this paper we study a challenging variant of the multi-agent pathfinding problem (MAPF), when a set of agents must reach a set of goal locations, but it does not matter which ag…
cs.MA2022
Towards A Complete Multi-Agent Pathfinding Algorithm For Large Agents
Stepan Dergachev, Konstantin Yakovlev
Multi-agent pathfinding (MAPF) is a challenging problem which is hard to solve optimally even when simplifying assumptions are adopted, e.g. planar graphs (typically -- grids), dis…