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Structure and Intractability of Optimal Multi-Robot Path Planning on Graphs
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
Planning optimal paths for multiple robots on graphs
  • Jingjin Yu, S. LaValle
  • Computer Science, Engineering
  • IEEE International Conference on Robotics and…
  • 17 April 2012
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
Optimal Multirobot Path Planning on Graphs: Complete Algorithms and Effective Heuristics
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
Multi-agent Path Planning and Network Flow
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 combinatorialExpand
Pebble Motion on Graphs with Rotations: Efficient Feasibility Tests and Planning Algorithms
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
Correlated Orienteering Problem and its application to informative path planning for persistent monitoring tasks
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 persistentExpand
Correlated Orienteering Problem and its Application to Persistent Monitoring Tasks
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
Complexity Results and Fast Methods for Optimal Tabletop Rearrangement with Overhand Grasps
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
Rendezvous Without Coordinates
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
Motion Planning for Unlabeled Discs with Optimality Guarantees
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