Allen George Philip — accepted AI-conference papers

2025

CP-MILP: Mixed Integer Linear Programming for Multi-Agent Motion Planning With Linear Dynamics

Zhongqiang Ren, Allen George Philip, Shizhe Zhao, Sivakumar Rathinam, Howie Choset

RA-L 2025

This paper considers a Multi-Agent Motion Planning (MAMP) problem that seeks collision-free paths for multiple agents from their respective start to goal locations among static obstacles, while minimizing the arrival times of the agents with linear dynamics. Among existing approaches such as graph s

Cited by 0 Source ↗Scholar ↗

2024

A Mixed-Integer Conic Program for the Moving-Target Traveling Salesman Problem based on a Graph of Convex Sets

Allen George Philip, Zhongqiang Ren, Sivakumar Rathinam, Howie Choset

IROS 2024poster

This paper introduces a new formulation that finds the optimum for the Moving-Target Traveling Salesman Problem (MT-TSP), which seeks to find a shortest path for an agent, that starts at a depot, visits a set of moving targets exactly once within their assigned time-windows, and returns to the depot…

Cited by 6 Source ↗Scholar ↗