4 papers
Local Guidance for Configuration-Based Multi-Agent Pathfinding
Tomoki Arita, Keisuke Okumura
Guidance is an emerging concept that improves the empirical performance of real-time, sub-optimal multi-agent pathfinding (MAPF) methods. It offers additional information to MAPF a…
Polynomial-time Configuration Generator for Connected Unlabeled Multi-Agent Pathfinding
Takahiro Suzuki, Keisuke Okumura
We consider Connected Unlabeled Multi-Agent Pathfinding (CUMAPF), a variant of MAPF where interchangeable agents must be connected at all times. This problem is fundamental to swar…
Lightweight and Effective Preference Construction in PIBT for Large-Scale Multi-Agent Pathfinding
Keisuke Okumura, Hiroki Nagai
PIBT is a computationally lightweight algorithm that can be applied to a variety of multi-agent pathfinding (MAPF) problems, generating the next collision-free locations of agents…
Pathfinding with Lazy Successor Generation
Keisuke Okumura
We study a pathfinding problem where only locations (i.e., vertices) are given, and edges are implicitly defined by an oracle answering the connectivity of two locations. Despite i…