Pathfinding in uniform-cost grid environments is a problem commonly found in application
areas such as robotics and video games. The state-of-the-art is dominated by hierarchical …

We address the problem of optimal pathfinding for multiple agents. Given a start state and a
goal state for each of the agents, the task is to find minimal paths for the different agents …

In cooperative pathfinding problems, non-interfering paths that bring each agent from its
current state to its goal state must be planned for multiple agents. We present the first …

Cooperative path-finding can be abstracted as computing non-colliding paths for multiple
agents between their start and goal locations on a graph. This paper proposes a fast …

This paper presents a multiagent path planning algorithm based on sequential convex
programming (SCP) that finds locally optimal trajectories. Previous work using SCP …

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 …

Multi-agent path planning is a challenging problem with numerous real-life applications.
Running a centralized search such as A* in the combined state space of all units is complete …

Multi-robot path planning is abstracted as the problem of computing a set of non-colliding
paths on a graph for multiple robots. A naive search of the composite search space …

Efficiency can be improved through the cooperation of a dual-robot during assembly.
However, how to effectively plan a simple and smooth path in a dynamic environment is a …

We believe the core of handling the complexity of coordinated multiagent search lies in
identifying which subsets of robots can be safely decoupled, and hence planned for in a …