3 papers
cs.RO2025
MAST: Multi-Agent Spatial Transformer for Learning to Collaborate
Damian Owerko, Frederic Vatnsdal, Saurav Agarwal +2
This article presents a novel multi-agent spatial transformer (MAST) for learning communication policies in large-scale decentralized and collaborative multi-robot systems (DC-MRS)…
cs.RO2025
Online Multi-Robot Coordination and Cooperation with Task Precedence Relationships
Walker Gosrich, Saurav Agarwal, Kashish Garg +4
We propose a new formulation for the multi-robot task allocation problem that incorporates (a) complex precedence relationships between tasks, (b) efficient intra-task coordination…
cs.RO2024
Generalizability of Graph Neural Networks for Decentralized Unlabeled Motion Planning
Shreyas Muthusamy, Damian Owerko, Charilaos I. Kanatsoulis +2
Unlabeled motion planning involves assigning a set of robots to target locations while ensuring collision avoidance, aiming to minimize the total distance traveled. The problem for…