Author

Hang Ma

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Preprint Aug 2026

Goal Staying Makes Sum-of-Costs Anonymous Multi-Agent Path Finding NP-Hard

Anonymous Multi-Agent Path Finding (AMAPF) admits polynomial-time network-flow algorithms for several objectives, including makespan, total distance, and sum-of-costs (SoC) when agents disappear upon reaching goals. We show that standard goal-staying AMAPF is fundamentally different. We first formulate SoC minimization...

Hang Ma · 0 citations

Preprint Aug 2026

Unified Branch-and-Bound Search for the Steiner Traveling Salesman Problem on Graphs of Convex Sets

We formalize the Steiner Traveling Salesman Problem (Steiner-TSP) on Graphs of Convex Sets (GCS), which seeks a minimum-cost closed trajectory through required convex sets while allowing optional transit vertices and revisits. To explore the resulting infinite solution space, we propose a unified branch-and-bound searc...

J. Tang, Hang Ma · 1 citation