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cs.MA2026
Goal Staying Makes Sum-of-Costs Anonymous Multi-Agent Path Finding NP-Hard
Hang Ma
Anonymous Multi-Agent Path Finding (AMAPF) admits polynomial-time network-flow algorithms for several objectives, including makespan, total distance, and sum-of-costs (SoC) when ag…
cs.AI2026
Unified Branch-and-Bound Search for the Steiner Traveling Salesman Problem on Graphs of Convex Sets
Jingtao Tang, Hang Ma
We formalize the Steiner Traveling Salesman Problem (Steiner-TSP) on Graphs of Convex Sets (GCS), which seeks a minimum-cost closed trajectory through required convex sets while al…
cs.RO2026
Search-Based Spatiotemporal and Multi-Robot Motion Planning on Graphs of Space-Time Convex Sets
Jingtao Tang, Zining Mao, Lufan Yang +1
Spatiotemporal motion planning, especially in multi-robot settings, requires robots to reason about collision-free regions that change over time, which is challenging in continuous…