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Grouping Auction-Consensus Algorithm for Decentralized Task Allocation in Multi-Robot Systems
Jose Rodriguez, Sven Koenig, Wenjie Dong +1
Decentralized multi-robot task allocation (MRTA) is essential for scalable and resilient autonomous systems. The Consensus-Based Bundle Algorithm (CBBA) is a widely adopted decentr…
Simulation-Informed Diffusion for Decentralized Multi-robot Motion Planning
Jinhao Liang, Sven Koenig, Ferdinando Fioretto
Decentralized multi-robot motion planning requires each robot to generate collision-free trajectories from local observations, without global sensing or reliable communication. How…
Auction-Consensus Algorithm with Learned Bidding Scheme for Multi-Robot Systems
Jose Rodriguez, Constantine Tarawneh, Sven Koenig +2
Multi-Robot Task Allocation (MRTA) is a central challenge in decentralized multi-agent systems, where teams of robots must cooperatively assign and execute tasks under limited comm…
Discrete-Guided Diffusion for Scalable and Safe Multi-Robot Motion Planning
Jinhao Liang, Sven Koenig, Ferdinando Fioretto
Multi-Robot Motion Planning (MRMP) involves generating collision-free trajectories for multiple robots operating in a shared continuous workspace. While discrete multi-agent path f…
Simultaneous Multi-Robot Motion Planning with Projected Diffusion Models
Jinhao Liang, Jacob K Christopher, Sven Koenig +1
Recent advances in diffusion models hold significant potential in robotics, enabling the generation of diverse and smooth trajectories directly from raw representations of the envi…
Multi-Agent Path Finding in Continuous Spaces with Projected Diffusion Models
Jinhao Liang, Jacob K. Christopher, Sven Koenig +1
Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics, requiring the computation of collision-free paths for multiple agents moving from their respective start to go…