Pavel Surynek

Pavel Surynek
Czech Technical University in Prague | ČVUT · Faculty of Information Technology (FIT)

Ph.D.

About

120
Publications
9,131
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824
Citations
Introduction
Pavel Surynek is currently affiliated with the Faculty of Information Technology (FIT), Czech Technical University in Prague. Pavel's research interests include Artificial Intelligence, Multi-Agent Path Finding, Motion Planning in Robotics, Satisfiability, and Constraint Reasoning. His current research project is 'MAPF-g: Multi Agent Path Finding and Generalizations'.

Publications

Publications (120)
Conference Paper
Full-text available
An optimization variant of a problem of path planning for multiple robots is addressed in this work. The task is to find spatial-temporal path for each robot of a group of robots such that each robot can reach its destination by navigating through these paths. In the optimization variant of the problem, there is an additional requirement that the m...
Conference Paper
Full-text available
Dynamic Constraint Satisfaction Problems play a very important role in modeling and solving real-life problems where the set of constraints is changing. The paper addresses a problem of maintaining arc consistency after removing a constraint from the constraint model. A new dynamic arc consis- tency algorithm is proposed that improves the practical...
Conference Paper
Full-text available
This paper addresses a problem of path planning for multiple robots. An abstraction where the environment for robots is modeled as an undirected graph with robots placed in its vertices is used (this abstraction is also known as the problem of pebble motion on graphs). A class of the problem with bi-connected graph and at least two unoccupied verti...
Conference Paper
Full-text available
We are dealing with solving difficult SAT instances in this pa per. We propose a method for preprocessing SAT instances (CNF formulas) by using consistency techniques known from constraint programming methodology and by using our own consistency technique based on clique decomposition of a graph representing conflicts in the i nput formula. The cli...
Article
In the multi-agent path finding problem (MAPF) we are given a set of agents each with respective start and goal positions. The task is to find paths for all agents while avoiding collisions, aiming to minimize a given objective function. Many MAPF solvers were introduced in the past decade for optimizing two specific objective functions: sum-of-cos...
Article
Multi-Agent Pathfinding (MAPF) is the problem of finding paths for multiple agents such that each agent reaches its goal and the agents do not collide. In recent years, variants of MAPF have risen in a wide range of real-world applications such as warehouse management and autonomous vehicles. Optimizing common MAPF objectives, such as minimizing su...
Preprint
Full-text available
In multi-agent path finding (MAPF), the task is to find non-conflicting paths for multiple agents from their initial positions to given individual goal positions. MAPF represents a classical artificial intelligence problem often addressed by heuristic-search. An important alternative to search-based techniques is compilation of MAPF to a different...
Chapter
We address the design of heuristics for near-optimal solving of the (N2–1)-puzzle using the A* search algorithm in this paper. The A* search algorithm explores configurations of the puzzle in the order determined by a heuristic that tries to estimate the minimum number of moves needed to reach the goal from the given configuration. To guarantee fin...
Preprint
Multi-agent path finding (MAPF) attracts considerable attention in artificial intelligence community as well as in robotics, and other fields such as warehouse logistics. The task in the standard MAPF is to find paths through which agents can navigate from their starting positions to specified individual goal positions. The combination of two addit...
Chapter
We address multi-agent path finding (MAPF) with continuous movements and geometric agents, i.e. agents of various geometric shapes moving smoothly between predefined positions. We analyze a new solving approach based on satisfiability modulo theories (SMT) that is designed to obtain optimal solutions with respect to common cumulative objectives. Th...
Preprint
Path planning for multiple robots (MRPP) represents a task of finding non-colliding paths for robots through which they can navigate from their initial positions to specified goal positions. The problem is usually modeled using undirected graphs where robots move between vertices across edges. Contemporary optimal solving algorithms include dedicat...
Chapter
Multi-agent path finding (MAPF) is the problem of planning a set of non-colliding paths for a set of agents so that each agent reaches its individual goal location following its path. A mutex from classical planning is a constraint forbidding a pair of facts to be both true or a pair of actions to be executed simultaneously. In the context of MAPF,...
Preprint
We introduce multi-goal multi agent path finding (MAPF$^{MG}$) which generalizes the standard discrete multi-agent path finding (MAPF) problem. While the task in MAPF is to navigate agents in an undirected graph from their starting vertices to one individual goal vertex per agent, MAPF$^{MG}$ assigns each agent multiple goal vertices and the task i...
Chapter
Multi-agent path finding with continuous movements and time (denoted MAPFR) is addressed. The task is to navigate agents that move smoothly between predefined positions to their individual goals so that they do not collide. Recently a novel solving approach for obtaining makespan optimal solutions called SMT-CBSR based on satisfiability modulo theo...
Chapter
Multi-agent path finding with continuous movements and time (denoted MAPF) is addressed. The task is to navigate agents that move smoothly between predefined positions to their individual goals so that they do not collide. Recently a novel solving approach for obtaining makespan optimal solutions called SMT-CBS based on satisfiability modulo theori...
Preprint
The At-Most-One (AMO) constraint is a special case of cardinality constraint that requires at most one variable from a set of Boolean variables to be set to TRUE. AMO is important for modeling problems as Boolean satisfiability (SAT) from domains where decision variables represent spatial or temporal placements of some objects that cannot share the...
Preprint
Multi-agent path finding in continuous space and time with geometric agents MAPF$^\mathcal{R}$ is addressed in this paper. The task is to navigate agents that move smoothly between predefined positions to their individual goals so that they do not collide. We introduce a novel solving approach for obtaining makespan optimal solutions called SMT-CBS...
Chapter
We address engineering of smart behavior of agents in evacuation problems from the perspective of cooperative path finding (CPF) in this paper. We introduce an abstract version of evacuation problems we call multi-agent evacuation (MAE) that consists of an undirected graph representing the map of the environment and a set of agents moving in this g...
Chapter
This paper gives an overview of conflict reasoning in generalizations of multi-agent path finding (MAPF). MAPF and derived variants assume items placed in vertices of an undirected graph with at most one item per vertex. Items can be relocated across edges while various constraints depending on the concrete type of relocation problem must be satisf...
Chapter
Full-text available
In multi-agent path finding (MAPF) the task is to navigate agents from their starting positions to given individual goals. The problem takes place in an undirected graph whose vertices represent positions and edges define the topology. Agents can move to neighbor vertices across edges. In the standard MAPF, space occupation by agents is modeled by...
Conference Paper
We unify search-based and compilation-based approaches to multi-agent path finding (MAPF) through satisfiability modulo theories (SMT). The task in MAPF is to navigate agents in an undirected graph to given goal vertices so that they do not collide. We rephrase Conflict-Based Search (CBS), one of the state-of-the-art algorithms for optimal MAPF sol...
Preprint
In multi-agent path finding (MAPF) the task is to navigate agents from their starting positions to given individual goals. The problem takes place in an undirected graph whose vertices represent positions and edges define the topology. Agents can move to neighbor vertices across edges. In the standard MAPF, space occupation by agents is modeled by...
Article
Full-text available
Multi-Agent Path Finding (MAPF) has been widely studied in the AI community. For example, Conflict-Based Search (CBS) is a state-of-the-art MAPF algorithm based on a twolevel tree-search. However, previous MAPF algorithms assume that an agent occupies only a single location at any given time, e.g., a single cell in a grid. This limits their applica...
Preprint
Full-text available
We discuss milestones on the tour towards DPLL(MAPF), a multi-agent path finding (MAPF) solver fully integrated with the Davis-Putnam-Logemann-Loveland (DPLL) propositional satisfiability testing algorithm through satisfiability modulo theories (SMT). The task in MAPF is to navigate agents in an undirected graph in a non-colliding way so that each...
Preprint
Full-text available
This paper addresses a variant of multi-agent path finding (MAPF) in continuous space and time. We present a new solving approach based on satisfiability modulo theories (SMT) to obtain makespan optimal solutions. The standard MAPF is a task of navigating agents in an undirected graph from given starting vertices to given goal vertices so that agen...
Preprint
Full-text available
In the multi-agent path finding problem (MAPF) we are given a set of agents each with respective start and goal positions. The task is to find paths for all agents while avoiding collisions aiming to minimize an objective function. Two such common objective functions is the sum-of-costs and the makespan. Many optimal solvers were introduced in the...
Preprint
Full-text available
We address item relocation problems in graphs in this paper. We assume items placed in vertices of an undirected graph with at most one item per vertex. Items can be moved across edges while various constraints depending on the type of relocation problem must be satisfied. We introduce a general problem formulation that encompasses known types of i...
Conference Paper
We present and evaluate diBOX, an algorithm for multi-agent path finding on strongly biconnected directed graphs. diBOX runs in polynomial time, computes suboptimal solutions and is complete for instances on strongly biconnected digraphs with at least two unoccupied positions. A detailed empirical analysis shows a good scalability for diBOX.
Preprint
Full-text available
We study practical approaches to solving the token swapping (TSWAP) problem optimally in this short paper. In TSWAP, we are given an undirected graph with colored vertices. A colored token is placed in each vertex. A pair of tokens can be swapped between adjacent vertices. The goal is to perform a sequence of swaps so that token and vertex colors a...
Chapter
In multi-agent path finding (MAPF) on graphs, the task is to find paths for distinguishable agents so that each agent reaches its unique goal vertex from the given start while collisions between agents are forbidden. A cumulative objective function is often minimized in MAPF. The main contribution of this paper consists in integrating independence...
Article
Much of the literature on suboptimal, polynomial-time algorithms for multi-agent path finding focuses on undirected graphs, where motion is permitted in both directions along a graph edge. Despite this, traveling on directed graphs is relevant in navigation domains, such as path finding in games, and asymmetric communication networks. We consider m...
Article
Full-text available
This paper deals with solving cooperative path finding (CPF) problems in a makespan-optimal way. A feasible solution to the CPF problem lies in the moving of mobile agents where each agent has unique initial and goal positions. The abstraction adopted in CPF assumes that agents are discrete units that move over an undirected graph by traversing its...
Conference Paper
The multi-agent pathfinding (MAPF) problem has attracted considerable attention because of its relation to practical applications. In this paper, we present a constraint-based declarative model for MAPF, together with its implementation in Picat, a logic-based programming language. We show experimentally that our Picat-based implementation is highl...
Conference Paper
The problem of mesh matching is addressed in this work. For a given n-sided planar region bounded by one loop of n polylines we are selecting optimal quadrilateral mesh from existing catalogue of meshes. The formulation of matching between planar shape and quadrilateral mesh from the catalogue is based on the problem of finding longest common subse...
Article
We address a problem of area protection in graph-based scenarios with multiple mobile agents where connectivity is maintained among agents to ensure they can communicate. The problem consists of two adversarial teams of agents that move in an undirected graph shared by both teams. Agents are placed in vertices of the graph; at most one agent can oc...
Article
Full-text available
We address a problem of area protection in graph-based scenarios with multiple agents. The problem consists of two adversarial teams of agents that move in an undirected graph shared by both teams. Agents are placed in vertices of the graph; at most one agent can occupy a vertex; and they can move into adjacent vertices in a conflict free way. Team...
Article
Full-text available
In multi-agent path finding (MAPF) the task is to find non-conflicting paths for multiple agents. In this paper we focus on finding suboptimal solutions for MAPF for the sum-of-costs variant. Recently, a SAT-based approached was developed to solve this problem and proved beneficial in many cases when compared to other search-based solvers. In this...
Article
Full-text available
The problem of makespan optimal solving of cooperative path finding (CPF) is addressed in this paper. The task in CPF is to relocate a group of agents in a non-colliding way so that each agent eventually reaches its goal location from the given initial location. The abstraction adopted in this work assumes that agents are discrete items moving in a...
Article
Full-text available
The problem of solving $(n^2-1)$-puzzle and cooperative path-finding (CPF) sub-optimally by rule based algorithms is addressed in this manuscript. The task in the puzzle is to rearrange $n^2-1$ pebbles on the square grid of the size of n x n using one vacant position to a desired goal configuration. An improvement to the existent polynomial-time al...
Article
Full-text available
The present paper deals with the problem of solving the (\(n^2 - 1\))-puzzle and cooperative path-finding (CPF) problems sub-optimally by rule-based algorithms. To solve the puzzle, we need to rearrange \(n^2 - 1\) pebbles in the \(n \times n\)-sized square grid using one vacant position to achieve the goal configuration. An improvement to the exis...
Conference Paper
Full-text available
In the multi-agent path finding (MAPF) the task is to find non-conflicting paths for multiple agents. Recently, existing makespan optimal SAT-based solvers for MAPF have been modified for the sum-of-costs objective. In this paper, we empirically compare the hardness of solving MAPF with SAT-based and search-based solvers under the makespan and the...
Conference Paper
Full-text available
This paper focuses on finding optimal solutions to the multi-agent path finding (MAPF) problem over undirected graphs where the task is to find non-colliding paths for multiple agents, each with a different start and goal position. An encoding of MAPF to Boolean satisfiability (SAT) is already known to the makespan optimal variant of the problem. I...
Conference Paper
Full-text available
Solving cooperative path finding (CPF) by translating it to propositional satisfiability represents a viable option in highly constrained situations. The task in CPF is to relocate agents from their initial positions to given goals in a collision free manner. In this paper, we propose a reduced time expansion that is focused on makespan sub-optimal...
Article
Full-text available
A novel eager encoding of the ALLDIFFERENT constraint over bit-vectors is presented in this short paper. It is based on 1-to-1 mapping of the input bit-vectors to a linearly ordered set of auxiliary bit-vectors. Experiments with four SAT solvers showed that the new encoding could be solved order of magnitudes faster than the standard encoding in a...
Article
Much of the literature on multi-agent path finding focuses on undirected graphs, where motion is permitted in both directions along a graph edge. Despite this, travelling on directed graphs is relevant in navigation domains, such as pathfinding in games, and asymmetric communication networks. We consider multi-agent path finding on strongly biconne...
Conference Paper
Full-text available
Much of the literature on multi-agent path finding focuses on undirected graphs, where motion is permitted in both directions along a graph edge. Despite this, travelling on directed graphs is relevant in navigation domains, such as pathfinding in games, and asymmetric communication networks. We consider multi-agent path finding on strongly biconne...
Article
Full-text available
A parallel version of the problem of cooperative path-finding (pCPF) is introduced in this paper. The task in CPF is to determine a spatio-temporal plan for each member of a group of agents. Each agent is given its initial location in the environment and its task is to reach the given goal location. Agents must avoid obstacles and must not collide...
Conference Paper
Full-text available
This paper addresses makespan optimal solving of cooperative path-finding problem (CPF) by translating it to propositional satisfiability (SAT). A novel very simple SAT encoding of CPF is proposed and compared with existing elaborate encodings. The conducted experimental evaluation shown that the simple design of the encoding allows solving it fast...
Conference Paper
This paper addresses makespan optimal solving of cooperative pathfinding problem (CPF) by translating it to propositional satisfiability (SAT). The task in CPF is to relocate a set of agents to given goal locations so that they do not collide with each other. Recent findings indicate that a simple direct encoding outperforms the more elaborate enco...
Article
Full-text available
A new type of partially global consistency derived from (2, k)-consistency called bounded (2, k)- consistency (B2C-consistency) is presented in this paper. It is designed for application in propositional satisfiability (SAT) as a building block for a preprocessing tool. Together with the new B2C-consistency a special mechanism for selecting regions...
Article
Full-text available
This paper proposes a framework for analyzing algorithms for inductive processing of bi-connected graphs. The BIBOX algorithm for solving cooperative path-finding problems over bi-connected graphs is submitted for the suggested analysis. The algorithm proceeds according to a decomposition of a given bi-connected graph into handles. After finishing...
Article
This paper addresses a problem of knowledge discovery in big data from the point of view of theoretical computer science. Contemporary characterization of big data is often preoccupied by its volume, velocity of change, and variety that causes technical difficulties to handle the data efficiently while theoretical challenges that are offered by big...
Conference Paper
Full-text available
This paper addresses a problem of cooperative path finding (CPF) where the task is to find paths for agents of a group of agents. Each agent is given a starting and a goal position and its task is to reach the goal from the given start. When following the paths, agents must not collide with each other and must avoid obstacles. It is suggested to au...
Article
Full-text available
We suggest to employ propositional satisfiability techniques in solving a problem of cooperative multi-robot path-finding optimally. Several propositional encodings of path-finding problems have been suggested recently. In this paper we evaluate how efficient these encodings are in solving certain cases of cooperative path-findings problems optimal...
Article
A survey on collaborative aspects of web search is presented in this paper. Current state in full-text web search engines with regards on users collaboration is given. The position of the paper is that it is becoming increasingly important to learn from other users searches in a collaborative way in order to provide more relevant results and increa...
Conference Paper
Full-text available
The approach to solving cooperative-path finding (CPF) as propositional satisfiability (SAT) is revisited in this paper. An alternative encoding that exploits multi-valued state variables representing locations where a given agent resides is suggested. This encoding employs the ALL-DIFFERENT constraint to model the requirement that agents must not...
Conference Paper
Full-text available
There exist planning algorithms that can quickly find sub-optimal plans even for large problems and planning algorithms finding optimal plans but only for smaller problems. In this paper we attempt to integrate both approaches. We present an anytime technique for improving plan quality, in particular for decreasing the plan make span, via substitut...
Article
Full-text available
The problem of cooperative path-finding is addressed in this work. A set of agents moving in a certain environment is given. Each agent needs to reach a given goal location. The task is to find spatial temporal paths for agents such that they eventually reach their goals by following these paths without colliding with each other. An abstraction whe...
Conference Paper
Full-text available
A novel approach to cooperative path-planning is presented. A SAT solver is used not to solve the whole instance but for optimizing the makespan of a sub-optimal solution. This approach is trying to exploit the ability of stateof- the-art SAT solvers to give a solution to relatively small instance quickly. A sub-optimal solution to the instance is...
Conference Paper
A new concept of abstract relocation problem in introduced in this article. It allows to model variety of relocation tasks arising in areas such as mobile robotics, logistics, and computer entertainment. Relocation problems represent a strict generalization of the existent concepts of cooperative path-finding and multi-robot path-planning. An impor...
Conference Paper
A problem of cooperative path-planning is addressed from the perspective of propositional satisfiability in this paper. Two new encodings of the problem as SAT are proposed and evaluated. Together with the existent solution optimization method which locally improves a sub-optimal solution of the problem through SAT solving, one of the new encodings...
Article
Full-text available
The approach to solving cooperative-path finding (CPF) as satisfiability (SAT) is revisited. An alternative encoding that exploits multi-valued state variables representing locations where a given agent resides is suggested. This encoding employs the ALL-DIFFERENT constraint to model the re-quirement that agents must not collide with each other. We...
Article
There exist planning algorithms that can quickly find suboptimal plans even for large problems and planning algorithms finding optimal plans but only for smaller problems. We attempt to integrate both approaches. We present an anytime technique for improving plan quality (decreasing the plan makespan) via substituting parts of the plan by better su...
Article
Full-text available
The paper addresses the design of a method for automated classification of bitmap images into classes described by the user in natural language. Examples of such naturally defined classes are images depicting buildings, landscape, artistic images, etc. The proposed classification method is based on the extraction of suitable attributes from a bitma...
Conference Paper
Full-text available
Problems of coordinated motion of multiple entities are addressed in this paper. These problems are dealt on the abstract level where they can be viewed as a task of constructing a spatial-temporal plan for a set of identical mobile entities. The entities are moving in a certain environment and they need to reach given goal positions starting from...
Article
Full-text available
An abstraction of the problem of multi-robot path planning is introduced in this paper. The basic task is to determine spatial-temporal plan for each robot of a group of robots where each robot is given its initial position in the environment and it needs to go to the given goal position. Robots must avoid obstacles and must not collide with each o...
Article
Full-text available
The problem of multi-robot path planning is addressed in this work. The task is to construct a sequence of moves for each robot of the group of robots that are moving in certain environment. Initially each robot is placed in some location in the environment and it needs to go to the given goal position. Robots must avoid obstacles and must not coll...
Chapter
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Article
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The task of enforcing certain level of consistency in a Boolean satisfiability problem (SAT problem) is addressed in this paper. The concept of path-consistency known from the constraint programming paradigm is revisited in this context. Augmentations how to make path-consistency more suitable for SAT are specifically studied. A stronger variant of...