【创源大讲堂】Discrete Rapidly-Exploring Random Tree for Large-Scale MAPF and Its Extensions

讲座时间：2026年09月01日上午10点

讲座地点：九里校区机械馆2223室

主讲人：辛健斌 教授

主持人：郭鹏

主讲人简介：辛健斌，郑州大学电气与信息工程学院教授。2007年获西安电子科技大学电气工程学士学位，2010年获西安交通大学控制科学与工程硕士学位，2015年获荷兰代尔夫特理工大学物流运作控制博士学位。主要从事多机器人系统规划与智能物流系统研究，在 European Journal of Operational Research、International Journal of Production Research 及多个 IEEE Transactions 系列期刊发表多篇高水平论文，主持多项国家自然科学基金项目。现任 Unmanned Systems 副主编，IEEE Transactions on Automation Science and Engineering 和 Flexible Services and Manufacturing Journal 客座编辑，并担任 IEEE机器人与自动化学会物流自动化技术委员会联合主席。

讲座简介：

Multi-Agent Path Finding (MAPF) has wide applications in logistics, airports, and manufacturing. This talk presents novel and efficient sampling-based heuristics for large-scale MAPF and its extensions, including Cooperative MAPF (Co-MAPF). First, a new sampling-based Discrete Rapidly-Exploring Random Tree (DRRT) algorithm is introduced to solve complex and challenging MAPF instances that cannot be efficiently addressed by existing discrete RRT-based methods. Several properties of the proposed DRRT are also established. The method is then extended to Co-MAPF, in which two heterogeneous groups of agents cooperate to complete transport tasks.