no code implementations • 7 Mar 2024 • Allen George Philip, Zhongqiang Ren, Sivakumar Rathinam, Howie Choset
This paper introduces a new formulation that finds the optimum for the Moving-Target Traveling Salesman Problem (MT-TSP), which seeks to find a shortest path for an agent, that starts at a depot, visits a set of moving targets exactly once within their assigned time-windows, and returns to the depot.
no code implementations • 11 Dec 2023 • Zhongqiang Ren, Anushtup Nandy, Sivakumar Rathinam, Howie Choset
MCPF is challenging as it involves both planning collision-free paths for multiple agents and target sequencing, i. e., solving traveling salesman problems to assign targets to and find the visiting order for the agents.
no code implementations • 19 Sep 2023 • Anushtup Nandy, Zhongqiang Ren, Sivakumar Rathinam, Howie Choset
This paper considers a generalization of the Path Finding (PF) with refueling constraints referred to as the Refuelling Path Finding (RF-PF) problem.
no code implementations • 6 Dec 2022 • Valmiki Kothare, Zhongqiang Ren, Sivakumar Rathinam, Howie Choset
The Multi-Objective Shortest Path Problem (MO-SPP), typically posed on a graph, determines a set of paths from a start vertex to a destination vertex while optimizing multiple objectives.
no code implementations • 9 May 2022 • Nikhil Chandak, Kenny Chour, Sivakumar Rathinam, R. Ravi
We interleave sampling based motion planning methods with pruning ideas from minimum spanning tree algorithms to develop a new approach for solving a Multi-Goal Path Finding (MGPF) problem in high dimensional spaces.
1 code implementation • 18 Feb 2022 • Zhongqiang Ren, Richard Zhan, Sivakumar Rathinam, Maxim Likhachev, Howie Choset
This work addresses a Multi-Objective Shortest Path Problem (MO-SPP) on a graph where the goal is to find a set of Pareto-optimal solutions from a start node to a destination in the graph.
1 code implementation • 29 Sep 2021 • Lakshay Virmani, Zhongqiang Ren, Sivakumar Rathinam, Howie Choset
By leveraging a Visual Transformer, we develop a learning-based single-agent planner, which plans for a single agent while paying attention to both the structure of the map and other agents with whom conflicts may happen.
1 code implementation • 2 Aug 2021 • Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev, Howie Choset
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.
no code implementations • 2 Aug 2021 • Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev, Howie Choset
Incremental graph search algorithms such as D* Lite reuse previous, and perhaps partial, searches to expedite subsequent path planning tasks.
no code implementations • 18 Mar 2021 • Zhongqiang Ren, Sivakumar Rathinam, Howie Choset
In multi-agent applications such as surveillance and logistics, fleets of mobile agents are often expected to coordinate and safely visit a large number of goal locations as efficiently as possible.
1 code implementation • 15 Mar 2021 • Kenny Chour, Sivakumar Rathinam, Ramamoorthi Ravi
We combine ideas from uni-directional and bi-directional heuristic search, and approximation algorithms for the Traveling Salesman Problem, to develop a novel framework for a Multi-Goal Path Finding (MGPF) problem that provides a 2-approximation guarantee.
no code implementations • 8 Mar 2021 • Zhongqiang Ren, Sivakumar Rathinam, Howie Choset
Multi-agent path finding (MAPF) determines an ensemble of collision-free paths for multiple agents between their respective start and goal locations.
2 code implementations • 2 Feb 2021 • Zhongqiang Ren, Sivakumar Rathinam, Howie Choset
One example of subdimensional expansion, when applied to A*, is called M* and M* was limited to a single objective function.
2 code implementations • 11 Jan 2021 • Zhongqiang Ren, Sivakumar Rathinam, Howie Choset
Naively applying existing multi-objective search algorithms, such as multi-objective A* (MOA*), to multi-agent path finding may prove to be inefficient as the dimensionality of the search space grows exponentially with the number of agents.
1 code implementation • 28 Aug 2020 • Vamsi Vegamoor, Sivakumar Rathinam, Swaroop Darbha
Recent advances in vehicle connectivity have allowed formation of autonomous vehicle platoons for improved mobility and traffic throughput.