Shan-Qing Liu

A Transformer-based Approach for Real-time Multi-agent Path Planning with Varying Initial/Final Conditions

We address the problem of real-time multi-agent path planning under prescribed initial and final configurations, formulated as a high-dimensional optimal control problem subject to inter-agent collision avoidance and obstacle constraints. Classical solvers based on the Hamilton--Jacobi--Bellman equation or Pontryagin's...