The ongoing work on examining various declarative MAPF encodings from the literature is summarized and some preliminary empirical results are presented, including some preliminary empirical results from Conflict-Based-Search.
A hierarchical, reservation-based, multi-resolution planner for discrete-time grid environments, including deadline-aware priority guidelines to resolve reservation contention, boundary-based validation of abstract connectivity to avoid phantom links, and a wait-and-retry fallback when planning temporarily fails are pr...
Gicu Rata, Liviu Octavian Mafteiu-Scai· SAR Journal - Science and Re...· 0 citations
This paper shows that many MAPP variants can be modeled in HyperLTL, a temporal logic that reasons about multiple paths and their evolution through time, and in its omega-regular extension HyperQPTL, a complementary, specification-centered view.
Sokoban, a puzzle game in which an agent pushes boxes onto unlabelled target locations in a grid world, is a long-standing benchmark planning problem. While it is easy to see the connection to practical applications such as warehouse logistics with autonomous forklifts, its multi-agent counterpart has remained underdev...
Multi-agent path planning (MAPP) in continuous environments often relies on roadmaps to balance safety and search efficiency. However, traditional roadmap generation methods, such as lattice grids or standard sampling-based approaches, frequently face a trade-off between graph density and the likelihood of finding feas...
Brandon Ho, Nikola Rogers, Seung-Kyum Choi· 0 citations
Humanoid and service robots operating in clut- tered human environments may encounter motion planning problems that are infeasible when all surrounding objects are treated as fixed obstacles. The Minimum Constraint Removal problem, which we refer to as MCR, addresses this situation by identifying the minimum number of...
Antony Thomas, Fulvio Mastrogiovanni, M. Baglietto· 0 citations
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