Publication

Z. Ren, A. G. Philip, S. Zhao, S. Rathinam and H. Choset. CP-MILP: Mixed Integer Linear Programming for Multi-Agent Motion Planning With Linear Dynamics. IEEE Robotics and Automation Letters, 10, (12), 12573-12579, 2025.

Abstract: This paper studies Multi-Agent Motion Planning with linear dynamics, where agents must reach their goals while avoiding static obstacles and other agents. The method introduces Control Perspective MILP (CP-MILP), a mixed-integer linear programming formulation that removes some big-M constraints by using a perspective technique on control terms. The paper analyzes the formulation and shows experimentally that CP-MILP can solve some instances to optimality much faster than related mixed-integer formulations.

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