4 accepted papers
Multi-agent path finding (MAPF) is an essential component of many large-scale, real-world robot deployments, from aerial swarms to warehouse automation. However, despite the community's continued efforts, most state-of-the-art MAPF planners still rely on centralized planning and scale poorly past a
Conventional path planning algorithms compute a single path through the configuration space. There is no guarantee that a physical robot will be able to track the trajectory while avoiding collisions, particularly in the presence of environmental perturbations and errors in the process model. Sequen…
The cooperative path planning problem seeks to determine a path for a group of robots which form temporary teams to perform tasks that require multiple robots. The multi-scale effects of simultaneously coordinating many robots distributed across the workspace while also tightly coordinating robots i…
Swarms consist of large numbers of individual agents that generally maintain no fixed relative positions, which makes describing the behavior of the swarm as a whole difficult. Furthermore, the high number of agents leads to frequent occlusions that prevent observations of the entire swarm. In this…