3 papers
cs.LG2026
Optimal and Scalable MAPF via Multi-Marginal Optimal Transport and Schrödinger Bridges
Usman A. Khan, Joseph W. Durham
We consider anonymous multi-agent path finding (MAPF) where a set of robots is tasked to travel to a set of targets on a finite, connected graph. We show that MAPF can be cast as a…
cs.RO2026
DeepFleet: Multi-Agent Foundation Models for Mobile Robots
Ameya Agaskar, Sriram Siva, William Pickering +18
We introduce DeepFleet, a suite of foundation models designed to support coordination and planning for large-scale mobile robot fleets. These models are trained on fleet movement d…
cs.RO2025
Multi-robot Path Planning and Scheduling via Model Predictive Optimal Transport (MPC-OT)
Usman A. Khan, Mouhacine Benosman, Wenliang Liu +2
In this paper, we propose a novel methodology for path planning and scheduling for multi-robot navigation that is based on optimal transport theory and model predictive control. We…