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An Optimization Variant of Multi-Robot Path Planning Is Intractable
TLDR
A proof of the claim that optimal path planning for multiple robots is NP-complete is sketched in this short paper. Expand
A novel approach to path planning for multiple robots in bi-connected graphs
  • Pavel Surynek
  • Mathematics, Computer Science
  • IEEE International Conference on Robotics and…
  • 12 May 2009
TLDR
It is shown in the paper that the new algorithm significantly outperforms the existing state-of-the-art techniques applicable to the problem and scales up well which make it suitable for practical problem solving. Expand
Efficient SAT Approach to Multi-Agent Path Finding Under the Sum of Costs Objective
TLDR
This paper presents the first SAT-solver for the sum-of-costs variant of MAPF which was previously only solved by search-based methods and is able to have a reasonable number of variables in its SAT encoding. Expand
Search-Based Optimal Solvers for the Multi-Agent Pathfinding Problem: Summary and Challenges
TLDR
Analytical and experimental comparisons show that no algorithm dominates all others in all circumstances in the multi-agent pathfinding field, and list important future research directions. Expand
Towards Optimal Cooperative Path Planning in Hard Setups through Satisfiability Solving
TLDR
This is the first method to produce near optimal solutions for densely populated environments; it can be also applied to domain-independent planning supposed that suboptimal planner is available. Expand
An Application of Pebble Motion on Graphs to Abstract Multi-robot Path Planning
  • Pavel Surynek
  • Computer Science
  • 21st IEEE International Conference on Tools with…
  • 2 November 2009
TLDR
A process of composition of a sub-optimal solution of the problem (a plan) of the pre-calculated optimal plans for the sub-problems (macros) is suggested and one of the existing algorithms was generalized by integrating macros for larger class of problems of multi-robot path planning. Expand
An Improved Algorithm for Maintaining Arc Consistency in Dynamic Constraint Satisfaction Problems
TLDR
This paper presents an improved version of AC|DC-2 algorithm for maintaining maximal arc consistency after constraint retraction that leads to runtimes better than the so far fastest dynamic arc consistency algorithm DnAC-6 while keeping low memory consumption. Expand
Multi-Agent Path Finding for Large Agents
TLDR
This paper formalizes and study LAMAPF, i.e., MAPF for large agents, and presents a generalized version of CBS, called Multi-Constraint CBS (MCCBS), that adds multiple constraints (instead of one constraint) for an agent when it generates a high-level search node. Expand
SOLVING ABSTRACT COOPERATIVE PATH‐FINDING IN DENSELY POPULATED ENVIRONMENTS
  • Pavel Surynek
  • Mathematics, Computer Science
  • Comput. Intell.
  • 1 May 2014
TLDR
Two novel scalable algorithms for solving cooperative path‐finding in bi‐connected graphs are presented and represent a viable alternative to search based techniques as well as to techniques employing permutation groups on the studied class of the problem. Expand
Compact Representations of Cooperative Path-Finding as SAT Based on Matchings in Bipartite Graphs
  • Pavel Surynek
  • Computer Science
  • IEEE 26th International Conference on Tools with…
  • 10 November 2014
TLDR
The conducted experimental evaluation has shown that novel encoding can be solved faster than existing encodings for CPF and also that the SAT based methods dominates over A* based methods in environment densely occupied by agents. Expand
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