91 citations · 190 across the 23 of their papers we have counts for
5 papers · 1 filter
Empirical Hardness in Multi-Agent Pathfinding: Research Challenges and Opportunities
Jingyao Ren, Eric Ewing, T. K. Satish Kumar +2
Multi-agent pathfinding (MAPF) is the problem of finding collision-free paths for a team of agents on a map. Although MAPF is NP-hard, the hardness of solving individual instances…
Connectivity Maintenance and Recovery for Multi-Robot Motion Planning
Yutong Wang, Lishuo Pan, Yichun Qu +2
Connectivity is crucial in many multi-robot applications, yet balancing connectivity maintenance and fleet traversability in obstacle-rich environments remains challenging. Reactiv…
Multi-Agent Path Finding Among Dynamic Uncontrollable Agents with Statistical Safety Guarantees
Kegan J. Strawn, Thomy Phan, Eric Wang +3
Existing multi-agent path finding (MAPF) solvers do not account for uncertain behavior of uncontrollable agents. We present a novel variant of Enhanced Conflict-Based Search (ECBS)…
Robust Trajectory Generation and Control for Quadrotor Motion Planning with Field-of-View Control Barrier Certification
Lishuo Pan, Mattia Catellani, Lorenzo Sabattini +1
Many approaches to multi-robot coordination are susceptible to failure due to communication loss and uncertainty in estimation. We present a real-time communication-free distribute…
Hierarchical Trajectory (Re)Planning for a Large Scale Swarm
Lishuo Pan, Yutong Wang, Nora Ayanian
We consider the trajectory replanning problem for a large-scale swarm in a cluttered environment. Our path planner replans for robots by utilizing a hierarchical approach, dividing…