4 papers · 1 filter
Decentralized Unlabeled Multi-Agent Navigation in Continuous Space
Stepan Dergachev, Konstantin Yakovlev
In this work, we study the problem where a group of mobile agents needs to reach a set of goal locations, but it does not matter which agent reaches a specific goal. Unlike most of…
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…
Distributed Multi-agent Navigation Based on Reciprocal Collision Avoidance and Locally Confined Multi-agent Path Finding
Stepan Dergachev, Konstantin Yakovlev
Avoiding collisions is the core problem in multi-agent navigation. In decentralized settings, when agents have limited communication and sensory capabilities, collisions are typica…
A Combination of Theta*, ORCA and Push and Rotate for Multi-agent Navigation
Stepan Dergachev, Konstantin Yakovlev, Ryhor Prakapovich
We study the problem of multi-agent navigation in static environments when no centralized controller is present. Each agent is controlled individually and relies on three algorithm…