Learning to Schedule in Multi-Agent Pathfinding
Kyuree Ahn,Heemang Park,Jinkyoo Park,Kyuree Ahn,Heemang Park,Jinkyoo Park
In this work, we consider the problem of allocating tasks and planning paths for multiple robots to operate cooper-atively. We formulate the problem as a bi-level optimization that involves optimizing the scheduling of robots and the collision-free path for each robot. To address the complexity of the environment with obstacles, we introduce a congestion-aware state representation technique with t...