Research



Software

Various research related software I have developed by myself or in collaboration with my colleagues is presented on this page. You can download the presented software and use it in your own research and experiments. Most programs are written in C++ and complete source code is provided. I hope you find them to be informative and helpful.



reLOC : an experimental package for solving multi-agent path finding (MAPF) problems

   reLOC   

reLOC is an experimental software for solving relocation problems. Most functions are dedicated to solving of a special relocation problem known as multi-agent path finding (MAPF) where a number of distinguishable agents are relocated in a graph from their starting vertices to unique goal vertices while collisions between agents must be avoided. The reLOC package implements several SAT-based optimal methods (the MAPF instance is reduced to propositional satisfiability instance (SAT) and then solved by a SAT solver). SAT-based methods use the Glucose SAT solver. Two objective functions are implemented - makespan and sum-of-costs. Polynomial-time complete solving methods based on Push-and-Swap algorithm are implemented as well.


Source download: reLOC-0.16-takao_013.tgz  (released July 2017)


Please cite the following paper if you use the reLOC program in your own published research:


Pavel Surynek: Compact Representations of Cooperative Path-Finding as SAT Based on Matchings in Bipartite Graphs. Proceedings of the 26th International Conference on Tools with Artificial Intelligence (ICTAI 2014), pp. 875-882, Limassol, Cyprus, IEEE Press, 2014, ISBN 978-1-4799-6572-4.



Programme Committee Membership

  • ICTAI 2018: 30th International Conference on Tools with Artificial Intelligence
  • IJCAI-ECAI 2018: 27th International Joint Conference on Artificial Intelligence /
        23rd European Conference on Artificial Intelligence
  • ICAPS 2018: 28th International Conference on Automated Planning and Scheduling
  • ICAART 2018: 11th International Conference on Agents and Artificial Intelligence
  • AAAI 2018: 33nd AAAI Conference on Artificial Intelligence
  • SoCS 2017: 10th Annual Symposium on Combinatorial Search
  • AAAI 2017: 31st Conference on Artificial Intelligence
  • IJCAI 2016: 25th International Joint Conference on Artificial Intelligence
  • AAAI 2016: 30th Conference on Artificial Intelligence
  • AAMAS 2015: 14th International Joint Conference on Autonomous Agents and Multiagent Systems
  • ECAI 2014: 21st European Conference on Artificial Intelligence
  • AAMAS 2014: 13th International Joint Conference on Autonomous Agents and Multiagent Systems
  • IJCAI 2013: 23rd International Joint Conference on Artificial Intelligence
  • AAAI 2011: 25th Conference on Artificial Intelligence


Article Reviewing

  • Autonomous Robots 2017 (AURO 2017)
  • Artificial Intelligence Journal 2016 (AIJ 2016)
  • IEEE Transactions on Robotics 2015 (T-RO 2015)
  • IEEE Transactions on Automation Science and Engineering (T-ASE 2015)
  • IEEE International Conference on Automation Science and Engineering (CASE 2014)
  • Robotics and Autonomous Systems, Elsevier (Robot 2013)
  • IEEE Transactions on Robotics 2013 (T-RO 2013)
  • Robotics and Computer Integrated Manufacturing (RCIM 2013)
  • International Journal of Computer Mathematics (IJCM 2013)
  • 2013 IEEE International Conference on Robotics and Automation (ICRA 2013)
  • Theoretical Computer Science 2011 (TAMC 2010 Special Issue)
  • Principles and Practice of Constraint Programming (CP 2011)
  • Constraints: An International Journal 2010
  • Annual Conference on Theory and Applications of Models of Computation 2010 (TAMC 2010)
  • Constraints: An International Journal 2010
  • Journal Kybernetika 2008
  • International Joint Conference on Artificial Intelligence 2009 (IJCAI 2009)
  • Principles and Practice of Constraint Programming (CP 2007)
  • Recent Advances in Constraints 2007 (RAC 2007), CSCLP 2007 post-proceedings


Grant Projects

  • Integration of Heuristic Search and Compilation-based Techniques for Multi-agent Path-finding (Integrace heuristického prohledávání a kompilačních technik pro hledání cest s mnoha agenty)
    Role: Czech-side investigator
    Israeli side: Prof. Ariel Felner, Dr. Roni Stern (Ben Gurion University of the Negev)
    Type: Bilateral institutional cooperation
    Providers: Czech Ministry of Education Youth and Sports (Ministerstvo školství mládeže a tělovýchovy České republiky - MŠMT) and Israel Ministry of Science, Technology and Space
    Period: 2017 - 2018
    Contract number: 8G15027
  • Constraint Programming and Boolean Satisfiability for Artificial Intelligence (Omezující podmínky a booleovská splnitelnost pro umělou inteligenci)
    Role: principal investigator
    Type: Post-doctoral project
    Provider: Czech Science Foundation (Grantová agentura České republiky - GAČR)
    Period: 2009 - 2011
    Contract number: 201/09/P318
  • PlanEx: Bridging Planning and Execution
    Role: member
    Type: Standard research project
    Provider: Czech Science Foundation (Grantová agentura České republiky - GAČR)
    Period: 2010 - 2014
    Contract number: GAP103/10/1287
  • Dynamic Aspects of Scheduling (Dynamické aspekty rozvrhování)
    Role: member
    Type: Standard research project
    Provider: Czech Science Foundation (Grantová agentura České republiky - GAČR)
    Period: 2007 - 2009
    Contract number: 201/07/0205
  • Constraint Satisfaction in Planning (Omezující podmínky v plánování)
    Role: member
    Type: Doctoral project
    Provider: Grant Agency of Charles University (Grantová agentura Univerzity Karlovy)
    Period: 2006 - 2008
    Contract number: 356/2006/A-INF/MFF
  • Collegium Informaticum
    Role: member
    Type: Doctoral project
    Provider: Czech Science Foundation (Grantová agentura České republiky - GAČR)
    Period: 2005 - 2008
    Contract number: 201/07/0205


Invited Talks

Cooperative Path-planning for Multiple Robots,
An invited talk at the Ben Gurion University of the Negev, Advanced Topics in Artificial Intelligence, March 2015, Israel.
presentation pdf ]

Artificial Intelligence and Computer Driven Society,
An invited talk at the University of Hyogo, May 2012, Japan.
abstract pdf | poster pdf | presentation pdf ]

Cooperative Path-finding as Satisfiability,
A talk at the 4th CSPSAT Seminar, May 2012, Kobe University, Japan.
presentation pdf ]

Redundancy Elimination in Highly Parallel Solutions of Motion Coordination Problems,
A talk at the CSP Seminar at Graduate School of Maritime Sciences, October 2011, Kobe University, Japan.
presentation pdf ]

Global Consistencies in Boolean Satisfiability,
An invited talk at the 2nd CSPSAT Seminar 2010, Information Science and Technology Center of the Kobe University, November 2010, Kobe University, Japan.
presentation pdf ]

Path-planning for Multiple Robots,
An invited talk at the 2nd CSPSAT Seminar 2010, Information Science and Technology Center of the Kobe University, November 2010, Kobe University, Japan.
presentation pdf ]

Hodnocení výzkumu (On Research Evaluation),
A talk at the department meeting, September 2010, Slapy, Faculty of Mathematics and Physics, Charles University, Prague, Czechia.
presentation pdf ]

Centralized Multi-agent Path Planning,
An invited talk at the Seminar of Agent Technology Center, June 2010, Faculty of Electrical Engineering, Czech Technical University, Prague, Czechia.
presentation pdf ]

Path Planning for Multiple Robots,
A talk at the 18th Annual Student Conference Week of Doctoral Students 2009, June 2009, Faculty of Mathematics and Physics, Charles University, Prague, Czechia.
presentation pdf ]

Plánování cest pro mnoho robotů (Multi-robot path planning),
A talk at the Seminar on Artificial Intelligence, April 2009, Faculty of Mathematics and Physics, Charles University, Prague, Czechia.
presentation pdf ]



Service

Session Chair at ICAART 2017, Porto, Portugal
- session Artificial Intelligence 1
Session Chair at SoCS 2015, Ein Gedi, Israel
- technical session and poster spotlight session
Faculty Open Day 2015, Prague Congress Center, Czechia
- representative of the department, together with Jakub Střelský
Faculty Open Day 2014, Slovanský dům, Prague, Czechia
- representative of the department, together with Tran Tuan Hiep
Faculty Open Day 2013, Slovanský dům, Prague, Czechia
- representative of the department, together with Marika Ivanová and Tran Tuan Hiep
Gaudeamus Fair 2012, Brno Exhibition Centre, Brno, Czechia
- education and study show, representative of the faculty
Faculty Open Day 2012, Slovanský dům, Prague, Czechia
- representative of the department
Session Chair at ICTAI 2011, Boca Raton, FL, USA
- session Planning I
Session Chair at AAAI 2011, San Francisco, CA, USA
- sessions A* Search and Search 2
Web Master of department web (2009-2016),
- Department of Theoretical Computer Science, Charles University, [http://ktiml.mff.cuni.cz]
Web Master for Czech-Japan Seminar 2011 (CJS 2011),
Hejnice, Czechia, [http://ktiml.mff.cuni.cz/cjs2011]