6 papers
Conveyor Parcel Routing with Order-Contiguous Arrivals
Takuro Kato, Keisuke Okumura
In warehouse logistics, parcels released from the outfeed of an automated storage system must be routed through conveyor networks to workstations. Beyond collision avoidance, pract…
Distance-Constrained Unlabeled Multi-Agent Pathfinding
Takahiro Suzuki, Yuma Tamura, Keisuke Okumura
We study a graph pathfinding problem Distance- Independent Unlabeled Multi-Agent Pathfinding, finding a set of collision-free paths between two sets where agents must stay at pa…
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…
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…
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…