8 citations · 24 across the 13 of their papers we have counts for
11 papers · 1 filter
Analysis Of The Anytime MAPF Solvers Based On The Combination Of Conflict-Based Search (CBS) and Focal Search (FS)
Ilya Ivanashev, Anton Andreychuk, Konstantin Yakovlev
Conflict-Based Search (CBS) is a widely used algorithm for solving multi-agent pathfinding (MAPF) problems optimally. The core idea of CBS is to run hierarchical search, when, on t…
Towards Time-Optimal Any-Angle Path Planning With Dynamic Obstacles
Konstantin Yakovlev, Anton Andreychuk
Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to…
Improving Continuous-time Conflict Based Search
Anton Andreychuk, Konstantin Yakovlev, Eli Boyarski +1
Conflict-Based Search (CBS) is a powerful algorithmic framework for optimally solving classical multi-agent path finding (MAPF) problems, where time is discretized into the time st…
Revisiting Bounded-Suboptimal Safe Interval Path Planning
Konstantin Yakovlev, Anton Andreychuk, Roni Stern
Safe-interval path planning (SIPP) is a powerful algorithm for finding a path in the presence of dynamic obstacles. SIPP returns provably optimal solutions. However, in many practi…
Multi-Agent Pathfinding with Continuous Time
Anton Andreychuk, Konstantin Yakovlev, Dor Atzmon +1
Multi-Agent Pathfinding (MAPF) is the problem of finding paths for multiple agents such that every agent reaches its goal and the agents do not collide. Most prior work on MAPF was…
eLIAN: Enhanced Algorithm for Angle-constrained Path Finding
Anton Andreychuk, Natalia Soboleva, Konstantin Yakovlev
Problem of finding 2D paths of special shape, e.g. paths comprised of line segments having the property that the angle between any two consecutive segments does not exceed the pred…