The NP-hardness proof for the time optimal versions of the discrete multi-robot path planning problem shows that these problems remain NP- hard even when there are only two groups of robots (i.e. robots within each group are interchangeable).Expand

Two multiflow based integer linear programming models are proposed that compute minimum last arrival time and minimum total distance solutions for the authors' MPP formulation, respectively that are complete and guaranteed to yield true optimal solutions.Expand

The combination of ILP model based algorithms and the heuristics proves to be highly effective, allowing the computation of 1.x-optimal solutions for problems containing hundreds of robots, densely populated in the environment, often in just seconds.Expand

This paper connects multi-agent path planning on graphs (roadmaps) to network flow problems, showing that the former can be reduced to the latter, therefore enabling the application of combinatorial… Expand

A linear time algorithm for deciding the feasibility of problems for distinguishable pebbles (robots) residing on the vertices of an \(n\)-vertex connected graph with \(p \le n\) and an \(O(n^3)\) algorithm for planning complete paths are established.Expand

We propose a novel non-linear extension to the Orienteering Problem (OP), called the Correlated Orienteering Problem (COP). We use COP to plan informative tours (cyclic paths) for persistent… Expand

The main feature of QCOP is a quadratic utility function capturing the said spatial correlation, which can quickly plan a near-optimal tour over a network with up to 150 nodes.Expand

The paper builds on reductions from well-understood, hard combinatorial challenges to propose an algorithmic pipeline for dealing with the rearrangement problems, which exhibits highly desirable scalability as the number of objects increases in both the overlapping and non-overlapping setup.Expand

This work considers a multi-agent system in which each agent moves like a Dubins car and has a limited sensor that reports only the presence of another agent within some sector of its windshield, and shows that, by making the quantized control law slightly stronger, a connected initial assignment graph is not required and the sensing model can be weakened further.Expand

An algorithm is introduced which minimizes the total path length, i.e., the sum of lengths of the individual paths, in a planar environment cluttered with polygonal obstacles and is guaranteed to find a solution if one exists, or report that none exists otherwise.Expand