8 citations · 8 across the 3 of their papers we have counts for
12 papers
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…
Prioritized Multi-agent Path Finding for Differential Drive Robots
Konstantin Yakovlev, Anton Andreychuk, Vitaly Vorobyev
Methods for centralized planning of the collision-free trajectories for a fleet of mobile robots typically solve the discretized version of the problem and rely on numerous simplif…
Combining Safe Interval Path Planning and Constrained Path Following Control: Preliminary Results
Konstantin Yakovlev, Anton Andreychuk, Juliya Belinskaya +1
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned b…
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…