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Optimized Directed Roadmap Graph for Multi-Agent Path Finding Using Stochastic Gradient Descent [article]

Christian Henkel, Marc Toussaint
2020 arXiv   pre-print
We present a novel approach called Optimized Directed Roadmap Graph (ODRM). It is a method to build a directed roadmap graph that allows for collision avoidance in multi-robot navigation.  ...  Using the graphs generated by ODRM compared to a non-optimized graph significantly fewer agent-agent collisions happen. We evaluate our roadmap with both, centralized and decentralized planners.  ...  In fact, the literature on optimal multi-agent path planning clarifies that blocking is the central concern of multi-agent path planning [28] .  ... 
arXiv:2003.12924v1 fatcat:v72foswzarcfrnl63hcw3vhl3a

Multi-objective Conflict-based Search Using Safe-interval Path Planning [article]

Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev, Howie Choset
2022 arXiv   pre-print
This paper addresses a generalization of the well known multi-agent path finding (MAPF) problem that optimizes multiple conflicting objectives simultaneously such as travel time and path risk.  ...  the Pareto-optimal front can be obtained using the proposed approach in comparison with the previous MO-CBS.  ...  Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation.  ... 
arXiv:2108.00745v3 fatcat:3dwz4mlbgrcddibpvd3c3czjea

An Efficient Index Method for the Optimal Route Query over Multi-Cost Networks [article]

Yajun Yang, Hang Zhang, Hong Gao, Qinghua Hu, Xin Wang
2020 arXiv   pre-print
In this paper, we study the problem of finding the optimal route in the multi-cost networks. We prove this problem is NP-hard and the existing index techniques cannot be used to this problem.  ...  However, there always are several kinds of cost in networks and users prefer to select an optimal route under the global consideration of these kinds of cost.  ...  Therefore, the problem of finding the optimal path over the multi-cost graphs is NP-hard. ✷ B.  ... 
arXiv:2004.12424v1 fatcat:aqsj5kbgobf2lhgb56jvwd4nke

Subdimensional Expansion for Multi-objective Multi-agent Path Finding [article]

Zhongqiang Ren, Sivakumar Rathinam, Howie Choset
2021 arXiv   pre-print
Simply applying standard multi-objective search algorithms to multi-agent path finding may prove to be inefficient because the size of the space of possible solutions, i.e., the Pareto-optimal set, can  ...  Conventional multi-agent path planners typically determine a path that optimizes a single objective, such as path length.  ...  INTRODUCTION Multi-Agent Path Finding (MAPF), as its name suggests, determines an ensemble of paths for multiple agents between their respective start and goal vertices within a graph that describes the  ... 
arXiv:2102.01353v1 fatcat:fm35vi5smzgalltdtulelgy26q

Multi-goal feasible path planning using ant colony optimization

Brendan Englot, Franz Hover
2011 2011 IEEE International Conference on Robotics and Automation  
We extend ant colony optimization (ACO) from its well-known application, the traveling salesman problem (TSP), to that of multi-goal feasible path planning for inspection and surveillance applications.  ...  Total mission time, a function of computational cost and the duration of the planned mission, is used as a basis for comparison.  ...  In the worst case, the all-pairs shortest paths computation over the PRM will find that the shortest path from goal i to goal j must pass through other intermediate goals, rather than going directly from  ... 
doi:10.1109/icra.2011.5980555 dblp:conf/icra/EnglotH11 fatcat:t7mwtrgpovdtjjv7lt6w5hzx6a

Optimal Multi-Agent Path Finding for Precedence Constrained Planning Tasks [article]

Kushal Kedia, Rajat Kumar Jenamani, Aritra Hazra, Partha Pratim Chakrabarti
2022 arXiv   pre-print
Multi-Agent Path Finding (MAPF) is the problem of finding collision-free paths for multiple agents from their start locations to end locations.  ...  We benchmark the performance of this algorithm over various warehouse assembly, and multi-agent pickup and delivery tasks, and use it to evaluate the sub-optimality of a recently proposed efficient baseline  ...  The path cost of an individual agent is the time taken to reach the goal. An optimal solution optimizes an objective function over the joint path.  ... 
arXiv:2202.10449v1 fatcat:vdajbugstjdh7fv72th64fsaqy

A Lexicographic Search Method for Multi-Objective Motion Planning [article]

Tixiao Shan, Brendan Englot
2020 arXiv   pre-print
We propose a novel method for multi-objective motion planning problems by leveraging the paradigm of lexicographic optimization and applying it for the first time to graph search over probabilistic roadmaps  ...  Higher-ranked resources cause a robot to incur non-negative costs over the paths traveled, which are occasionally zero-valued.  ...  In Figure 2(a) , the path of WS (α = 0.9), which has the lowest risk cost, is the same as the optimal path from LS.  ... 
arXiv:1909.02184v2 fatcat:ry44ljkmc5g57dicp67yfstdke

Planning curvature-constrained paths to multiple goals using circle sampling

Edgar Lobaton, Jinghe Zhang, Sachin Patil, Ron Alterovitz
2011 2011 IEEE International Conference on Robotics and Automation  
We then formulate the multigoal planning problem as finding a minimum directed Steiner tree over the roadmap.  ...  Since optimally solving the multi-goal planning problem requires exponential time, we propose greedy heuristics to efficiently compute a path that visits multiple goals.  ...  The vertices v S and v G receive a weight of 0. Once this graph has been constructed, we can apply standard graph shortest path algorithms to find the path with the lowest cost.  ... 
doi:10.1109/icra.2011.5980446 pmid:22294101 pmcid:PMC3268135 dblp:conf/icra/LobatonZPA11 fatcat:y6wkm4vo2bguxk6q25a5izsuri

A Study on Cross-Layer Multi-Constraint Path Computation for IP-Over-Optical Networks

X. Yang, T. Lehman, K. Ogaki, T. Otani
2009 2009 IEEE International Conference on Communications  
The main purpose of path computation in multi-layer networks (MLN) is to enable traffic engineering (TE) under a multitude of constraints.  ...  A powerful path computation element is a must for the next-generation IP-over-Optical networks to support ondemand service provisioning crossing layers.  ...  Then an optimal path in the channel graph can be translated back to an optimal path in the original graph.  ... 
doi:10.1109/icc.2009.5198679 dblp:conf/icc/YangLOO09 fatcat:kdx3qliit5af7ghyxn5qi3nq6a

Roadmaps for Robot Motion Planning with Groups of Robots

Rahul Shome
2021 Current Robotics Reports  
Recent Findings This article primarily covers recent algorithmic advances that are based on roadmaps for motion planning, with specific optimizations necessary for the multi-robot domain.  ...  These algorithms provide some desired theoretical properties of being guaranteed to find a solution, as well as optimality of the discovered solution.  ...  Multi-agent Path Finding on a Graph The multi-agent path finding (MAPF) problem on a graph is a special case of the general roadmap formulation described in the previous sections.  ... 
doi:10.1007/s43154-021-00043-8 fatcat:ocjbdd66hzgsjnrmtmnd6tfxbq

Multi-agent Planning for thermalling gliders using multi level graph-search [article]

Muhammad Aneeq uz Zaman, Aamer Iqbal Bhatti
2020 arXiv   pre-print
This is achieved through a uniform cost graph search, as shown in our earlier work. The multi-agent problem now consists of determining the best allocation (of interest points) for each glider.  ...  The Branch&Bound approach is the main contribution of the paper. This approach is proven to be optimal and shown to be faster than the brute force search using simulations.  ...  Then the multi-agent problem is solved by using the composite paths and a multi level graph search. This approach is an improvement over our earlier work [5] .  ... 
arXiv:2007.01334v1 fatcat:sxvduc2wyvgbbdkb6fhqbs2cre

Determining the Optimum Number of Paths for Realization of Multi-path Routing in MPLS-TE Networks

Mohammad Abdelhadi Alhihi, Mohammad Reza Khosravi, Hani Attar, Mohammad Samour
2017 TELKOMNIKA (Telecommunication Computing Electronics and Control)  
concepts and finally, introducing the solution of the multi-criteria optimization problem for a set of shortest paths.  ...  In details, the article proposes a way for finding the set of shortest paths using Dijkstra's algorithm, and then determination of the maximum flow for each of the shortest paths based on the mathematical  ...  For each graph, the search for the optimal path consisted of three actions: a. Finding the set of the shortest paths using Dijkstra's algorithm. b.  ... 
doi:10.12928/telkomnika.v15i4.6597 fatcat:zzvoboxanzfcdm6hd2b5iedzwi

The cost optimal solution of the multi-constrained multicast routing problem

Miklós Molnár, Alia Bellabas, Samer Lahoud
2012 Computer Networks  
In this paper, we study the cost optimal solution of the well-known multi-constrained multicast routing problem.  ...  Moreover, finding the multicast structure with respect to the defined QoS requirements while minimizing a cost function is an NP-difficult optimization problem.  ...  The optimal (minimum cost) multi-constrained multicast routing that consists in finding a minimum cost structure having at most one directed path p(s, d j ) from the source to each destination d j ∈ D,  ... 
doi:10.1016/j.comnet.2012.04.020 fatcat:lzusw23ehzgfbcgzh2obl6ykzm

Synchronized Multi-Arm Rearrangement Guided by Mode Graphs with Capacity Constraints [article]

Rahul Shome, Kostas E. Bekris
2020 arXiv   pre-print
The current work identifies a useful connection between multi-arm rearrangement and recent results in multi-body path planning on graphs with vertex capacity constraints.  ...  Solving a synchronized multi-arm rearrangement at a high-level involves reasoning over a modal graph, where nodes correspond to stable object placements and object transfer states by the arms.  ...  Given an initial multi-modal state, the module returns the multi-body path planning solution for the objects over the mode graph with capacity constraints, that ideally minimizes the maximum path cost  ... 
arXiv:2005.09127v1 fatcat:7cz5fi5ecva67icqcvmuxogatq

Sequential path planning for a formation of mobile robots with split and merge

M. Estefania Pereyra, R. Gaston Araguas, Miroslav Kulich
2017 2017 IEEE Latin American Conference on Computational Intelligence (LA-CCI)  
Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge.  ...  It is thus deterministic, complete, computationally inexpensive, and finds a solution for a fixed source node to another node in the graph.  ...  The standard Dijkstra's algorithm finds the cheapest paths together with their costs from the given source node Q ini to all other nodes in the graph G.  ... 
doi:10.1109/la-cci.2017.8285722 dblp:conf/lacci/PereyraAK17 fatcat:aew5pnbeq5fbbf5x4iujeps3qi
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