惯性聚合 高效追踪和阅读你感兴趣的博客、新闻、科技资讯
阅读原文 在惯性聚合中打开

推荐订阅源

V
V2EX
J
Java Code Geeks
月光博客
月光博客
博客园_首页
The GitHub Blog
The GitHub Blog
Vercel News
Vercel News
B
Blog RSS Feed
博客园 - 聂微东
宝玉的分享
宝玉的分享
T
Tailwind CSS Blog
Jina AI
Jina AI
S
SegmentFault 最新的问题
B
Blog
钛媒体:引领未来商业与生活新知
钛媒体:引领未来商业与生活新知
有赞技术团队
有赞技术团队
Hugging Face - Blog
Hugging Face - Blog
Google DeepMind News
Google DeepMind News
阮一峰的网络日志
阮一峰的网络日志
The Cloudflare Blog
量子位
Martin Fowler
Martin Fowler
博客园 - Franky
大猫的无限游戏
大猫的无限游戏
博客园 - 叶小钗

cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Layered LA-MAPF: a decomposition of large agent MAPF inst...
Zhuo Yao · 2024-10-23 · via cs.RO updates on arXiv.org

Multi-Agent Path Finding (MAPF) has been widely studied in recent years. However, most existing MAPF algorithms assume that an agent occupies only a single grid in a grid-based map. This assumption limits their applicability in many real-world domains where agents have geometric shapes, rather than being point-like. Such agents, which can occupy multiple cells simultaneously, are referred to as ``large'' agents. When considering the shape and size of agents in MAPF, the computational complexity increases significantly as the number of agents grows, primarily due to the increased overhead in conflict detection between geometric agents. In this paper, we propose two types of subproblems for the LA-MAPF (Large-Agent MAPF) problem: \textbf{cluster} (which has no constraints on the order of solution) and \textbf{level} (which imposes constraints on the solution order). We introduce \textbf{Layered LA-MAPF}, a method that decomposes a MAPF instance involving geometric agents into clusters, and then further decomposes each cluster into levels. This approach aims to reduce time complexity when solving LA-MAPF problems. Our results demonstrate the performance of our method as the number of agents increases across various maps, and how it accelerates LA-MAPF methods, such as LA-CBS and LA-LaCAM. Experiments show that our LA-MAPF method with instance decomposition \textbf{halves the time cost (reducing from an average of 40s to 20s) and triples the success rate (from an average of 0.27 to 0.80)} in finding a solution within 60 seconds. To facilitate further research, we have made the source code for Layered LA-MAPF publicly available at \url{https://github.com/JoeYao-bit/LayeredMAPF/algorithm/LA-MAPF}.