Lifelong Multi-Agent Path Finding in Large-Scale Warehouses

by   Jiaoyang Li, et al.

Multi-Agent Path Finding (MAPF) is the problem of moving a team of agents to their goal locations without collisions. In this paper, we study the lifelong variant of MAPF where agents are constantly engaged with new goal locations, such as in large-scale warehouses. We propose a new framework for solving lifelong MAPF by decomposing the problem into a sequence of Windowed MAPF instances, where a Windowed MAPF solver resolves collisions among the paths of the agents only within a finite time horizon and ignores collisions beyond it. Our framework is particularly well suited to generating pliable plans that adapt to continually arriving new goal locations. Theoretically, we analyze the advantages and disadvantages of our framework. Empirically, we evaluate our framework with a variety of MAPF solvers and show that it can produce high-quality solutions for up to 1,000 agents, significantly outperforming existing methods.



page 2

page 5


MS*: A New Exact Algorithm for Multi-agent Simultaneous Multi-goal Sequencing and Path Finding

In multi-agent applications such as surveillance and logistics, fleets o...

Leveraging Experience in Lifelong Multi-Agent Pathfinding

In Lifelong Multi-Agent Path Finding (L-MAPF) a team of agents performs ...

Multi-Agent Path Finding with Delay Probabilities

Several recently developed Multi-Agent Path Finding (MAPF) solvers scale...

A Competitive Analysis of Online Multi-Agent Path Finding

We study online Multi-Agent Path Finding (MAPF), where new agents are co...

WiSM: Windowing Surrogate Model for Evaluation of Curvature-Constrained Tours with Dubins vehicle

Dubins tours represent a solution of the Dubins Traveling Salesman Probl...

Coordinated Multi-Agent Pathfinding for Drones and Trucks over Road Networks

We address the problem of routing a team of drones and trucks over large...

Multi-agent Deep FBSDE Representation For Large Scale Stochastic Differential Games

In this paper, we present a deep learning framework for solving large-sc...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.