We consider the problem of dynamically allocating tasks to multiple agents under time
window constraints and task completion uncertainty. Our objective is to minimize the number …

Abstract In the Multi-Agent Path Finding (MAPF) problem, a set of agents moving on a graph
must reach their own respective destinations without inter-agent collisions. In practical MAPF …

We study transportation problems where robots have to deliver packages and can transfer
the packages among each other. Specifically, we study the package-exchange robot-routing …

Abstract Several recently developed Multi-Agent Path Finding (MAPF) solvers scale to large
MAPF instances by searching for MAPF plans on 2 levels: The high-level search resolves …

We consider a variant of the Multi-Agent Path-Finding problem that seeks both task
assignments and collision-free paths for a set of agents navigating on a graph, while …

Learning communication via deep reinforcement learning (RL) or imitation learning (IL) has
recently been shown to be an effective way to solve Multi-Agent Path Finding (MAPF) …

Abstract Multi-Agent Path Finding (MAPF) is the combinatorial problem of finding collision-
free paths for multiple agents on a graph. This paper describes MAPF-based software for …

We consider two new classes of pairwise path symmetries which appear in the context of
Multi-Agent Path Finding (MAPF). The first of them, corridor symmetry, arises when two …

Conflict-based Search (CBS) is a effective approach to optimal multi-agent path finding.
However, performance of CBS approaches degrade rapidly in highly-contended graphs with …

In this work, we consider the Multi-Agent Pickup-and-Delivery (MAPD) problem, where
agents constantly engage with new tasks and need to plan collision-free paths to execute …