4 papers
FICO: Finite-Horizon Closed-Loop Factorization for Unified Multi-Agent Path Finding
Jiarui Li, Alessandro Zanardi, Federico Pecora +2
Multi-Agent Path Finding is a fundamental problem in robotics and AI, yet most existing formulations treat planning and execution separately and address variants of the problem in…
Game-theoretic Energy Management Strategies With Interacting Agents in Formula 1
Giona Fieni, Marc-Philippe Neumann, Alessandro Zanardi +2
This paper presents an interaction-aware energy management optimization framework for Formula 1 racing. The considered scenario involves two agents and a drag reduction model. Stra…
Multi-Agent Path Finding via Finite-Horizon Hierarchical Factorization
Jiarui Li, Alessandro Zanardi, Gioele Zardini
We present a novel algorithm for large-scale Multi-Agent Path Finding (MAPF) that enables fast, scalable planning in dynamic environments such as automated warehouses. Our approach…
Tactical Game-theoretic Decision-making with Homotopy Class Constraints
Michael Khayyat, Alessandro Zanardi, Stefano Arrigoni +1
We propose a tactical homotopy-aware decision-making framework for game-theoretic motion planning in urban environments. We model urban driving as a generalized Nash equilibrium pr…