Multi-Agent Path Finding

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6 papers in the last four weeks, against 2 the four weeks before. 0.1% of all new papers.

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  1. Belief-Aware Multi-Agent Path Finding under Map Uncertainty

    Sep 30, 2026Viraj Parimi, Shao-Hung Chan, Han Zhang +2Multi-Agent Path FindingPath Planning

    Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 01239. · Symbotic Inc., Wilmington, MA 01887, USA

  2. Solving Multi-Agent Sokoban via LaCAM

    Sep 30, 2026Keisuke OkumuraMulti-Agent Path FindingMulti-Agent Planning

    National Institute of Advanced Industrial Science and Technology (AIST), Japan

  3. Divide and Collapse: MAPF-Collapse via Exact Decomposition into Independent Sub-Instances

    Sep 30, 2026Oren SalzmanMulti-Agent Path FindingClassical Planning

    Technion – Israel Institute of Technology

  4. GuardPIBT: Counterfactually Gated Neural Guidance for Ultra-Large-Scale 3D Multi-Agent Path Finding

    Sep 28, 2026Yuan Zhou, Zhenyu Hou, Guangtong Xu +4Multi-Agent Path FindingGeometric Guidance

    Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China. · Differential Robotics Technology Company, Hangzhou 311121, China. · Huzhou Institute, Zhejiang University, Huzhou 313000, China. +3

  5. Mixed-integer flow formulations for motion planning and decision-making of networked multi-agent systems

    Sep 21, 2026Angelo Caregnato-Neto, Paul-Louis Delacour, Raf Van de Plas +2Mixed-Integer ProgrammingBringing Network Coding

    Department of Computational Mechanics (DMC), School of Mechanical Engineering (FEM), State University of Campinas (UNICAMP), São Paulo, Brazil · Delft Center for Systems and Control, Delft University of Technology, Delft, Netherlands · Dept. of Biochemistry, Vanderbilt University, Nashville, TN, USA

  6. A traffic management system for large and heterogeneous vehicles in narrow industrial environments

    Sep 9, 2026Alessandro Bonetti, Silvia Proia, Simone Guidetti +1Intelligent TransportationMulti-Agent Path Finding

    Department of Sciences and Methods for Engineering (DISMI), University of Modena and Reggio Emilia, Italy · Gruppo TecnoFerrari S.p.a. con socio unico, Italy

  7. Scalable Multi-Agent Maze Traversal with Local Communication

    Aug 12, 2026Julian Rau, Jahir Argote-Gerald, Grace McFassel +3Multi-Agent Path FindingMaze Task

    Department of Computer Science, Technical University of Darmstadt, Germany · School of Electrical and Electronic Engineering, The University of Sheffield, UK · Bristol Robotics Laboratory, University of Bristol, Bristol, UK

  8. Agentic Router: An Execution-Grounded Continual Learning Approach With Memory

    Aug 10, 2026Yuxuan Chen, Rongpeng Li, Zhifeng Zhao +3Qwen3Data Generation

    Zhejiang University, Hangzhou 310027, China · Zhejiang Lab, Hangzhou 310012, China · State Grid Hebei Electric Power Co., Ltd., Hebei, China +1

  9. AOC-CBS: Anytime-Optimal Continuous-time Conflict-Based Search for Generalised Multi-Agent Path Finding

    Aug 8, 2026Alvin Combrink, Sabino Francesco Roselli, Martin FabianMulti-Agent Path FindingPath Planning

    Department of Electrical Engineering, Chalmers University of Technology, Gothenburg, Sweden.

  10. Scalable Long-Horizon Planning with Staggered Updates for Lifelong MAPF

    Aug 7, 2026Vaibhav Sanjay, Jiaoyang LiMulti-Agent Path FindingLong-Horizon Planning

    Robotics Institute, Carnegie Mellon University

  11. Search-Aided Joint Agent-Environment Reinforcement Learning for Robust Lifelong Multi-Agent Path Finding with Rotations

    Aug 6, 2026He Jiang, Jingtian Yan, Yulun Zhang +5Multi-Agent Path FindingLow-Latency Latent Planning

    1Carnegie Mellon University · University of Southern California · 3National University of Singapore

  12. PRIMAL3: Pathfinding via Reinforcement and Imitation Multi-Agent Learning - Leveraging LaCAM3

    Aug 5, 2026Chengyang He, Tanishq Duhan, Gadiel Sznaier Camps +6Multi-Agent Path FindingImitation

    Multi-Agent Robotic Motion Lab (MARMot), National University of Singapore · Multi-robot Systems Lab (MSL), Stanford University · Robotics and Machine Intelligence Lab (ROMI), Hong Kong Polytechnic University

  13. Stress-Relief Annealing: Polynomial-Time Simulation-Free Layout Optimization for Automated Warehouses

    Aug 2, 2026Xiangjie Luo, Yulun Zhang, Miyuki Koshimura +2Warehouse AutomationLogistics

    Graduate School of Information Science and Electrical Engineering, Kyushu University · Robotics Institute, Carnegie Mellon University

  14. Stigmergic Graph Memory: An Environment-Aware Approach for Many-to-Many Multi-Agent Pickup and Delivery

    Jul 16, 2026Aditya Dutta, Joon-Seok KimMulti-Agent Path FindingWarehouse Automation

    Emory University 201 Dowman Drive Atlanta, GA 30322 USA

  15. Conflict-Based Lazy Search for Fast Multi-Manipulator Planning

    Jul 5, 2026Dongliang Zheng, Zhipeng Wang, Siqi Wang +4Multi-Robot Motion PlanningMulti-Agent Path Finding

    Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai Institute of Intelligent Science and Technology, the State Key Laboratory of Autonomous Intelligent Unmanned Systems, and Frontiers Science Center for Intelligent Autonomous Systems of Ministry of Education, Tongji University, Shanghai 201203, China · Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China · School of Aerospace Engineering and Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA 30332, USA

  16. Dual-Informed Vertical Expansion for Multi-Objective Node Selection in Anytime Conflict-Based Search

    Jun 30, 2026Willem van Osselaer, Jiarui Li, Meshal Alharbi +1Multi-Agent Path FindingPath Planning

    Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA

  17. Cooperative-ORCA*: Real-Time Proactive Deadlock Avoidance for Continuous-Space Multi-Agent Navigation

    Jun 22, 2026Junfeng Wu, Jiaqi Chen, Hongkun Lyu +2Multi-Agent Path FindingCollision-Free Trajectories

    Monash University

  18. Unassigned Agents in Compilation-based Multi-agent Path Finding

    Jun 14, 2026Pavel SurynekMulti-Agent Path FindingMulti-Uav

    Faculty of Information Technology, Czech Technical University in Prague Thákurova 9, 163 00, Prague, Czechia

  19. Hardness of Multi-Agent Path Finding on Trees: A Unified Approach

    Jun 4, 2026Tzvika GeftMulti-Agent Path FindingNp-Hard

    Rutgers University, NJ, USA · NJ, USA

  20. CADENCE: Predicting Realized MAPF Execution Time Beyond Sum of Costs

    Jun 3, 2026Abhishek S, Badrikanath Praharaj, Sreeram MVMulti-Agent Path FindingMulti-Robot Systems

    BuildMachineLabs

  21. On dynamic multi-agent pathfinding methods: review, simulations and modifications

    Jun 2, 2026Gabriel Fejziaj, Salama Hassona, Wieslaw MarszalekMulti-Agent Path FindingPath Planning

    Department of Computer Science, Opole University of Technology, Opole, 45-758, Poland.

  22. STEAM: A Training-Free Congestion-Aware Enhancement Framework for Decentralized Multi-Agent Path Finding

    May 20, 2026Mingyang Feng, Mengnuo Zhang, Shaoyuan Li +1Multi-Agent Path FindingDecentralized Learning

    School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, Shanghai 200240, China

  23. COAgents: Multi-Agent Framework to Learn and Navigate Routing Problems Search Space

    May 20, 2026Oleksandr Yakovenko, Mahdi Mostajabdaveh, Cheikh Ahmed +4Vehicle Routing ProblemMulti-Agent Path Finding

    Huawei Technologies Canada, 4321 Still Creek Dr, Burnaby, BC, Canada V5C 6S7 · Huawei Technologies, China

  24. Lifelong LaCAM with Local Guidance for Lifelong MAPF

    May 16, 2026Tomoki Arita, Keisuke OkumuraMulti-Agent Path FindingGuidance

    Keio University, Japan · National Institute of Advanced Industrial Science and Technology (AIST), Japan

  25. Multi-Agent Cooperative Transportation: Optimal and Efficient Task Allocation and Path Finding

    May 15, 2026Ning Zhou, Nikolai W. F. Bode, Edmund R. HuntMulti-Agent Path FindingMulti-Robot Systems

    University of Bristol

  26. From Gridworlds to Warehouses: Adapting Lightweight One-shot Multi-Agent Pathfinding for AGVs

    May 15, 2026Hiroki Nagai, Keisuke OkumuraMulti-Agent Path FindingWarehouse Automation

    National Institute of Advanced Industrial Science and Technology (AIST), Japan

  27. Privacy Preserving Multi Agent Path Finding

    May 13, 2026Rotem Lev Lehman, Roni Stern, Guy ShaniMulti-Agent Path FindingPath Planning

    Ben Gurion University of the Negev · Be’er Sheva, Israel

  28. Discrete Diffusion for Complex and Congested Multi-Agent Path Finding with Sparse Social Attention

    May 13, 2026Yuanzhe Wang, Tian Zhi, Zihang Wei +8Multi-Agent Path FindingDiffusion Planning

    State Key Lab of Processors, Institute of Computing Technology, CAS · School of Advanced Interdisciplinary Sciences, CAS · University of Chinese Academy of Sciences +1

  29. Conveyor Parcel Routing with Order-Contiguous Arrivals

    May 13, 2026Takuro Kato, Keisuke OkumuraLogisticsMulti-Agent Path Finding

    Toyota Industries Corporation, Japan · National Institute of Advanced Industrial Science and Technology (AIST), Japan

  30. Distance-Constrained Unlabeled Multi-Agent Pathfinding

    May 12, 2026Takahiro Suzuki, Yuma Tamura, Keisuke OkumuraMulti-Agent Path FindingCollision-Free Trajectories

    Tohoku University · National Institute of Advanced Industrial Science and Technology (AIST)

  31. Robust Multi-Agent Path Finding under Observation Attacks: A Principled Adversarial-Plus-Smoothing Training Recipe

    May 12, 2026Riad AhmedMulti-Agent Path FindingProximal Policy Optimization

    University of New Hampshire

  32. Optimal and Scalable MAPF via Multi-Marginal Optimal Transport and Schrödinger Bridges

    May 11, 2026Usman A. Khan, Joseph W. DurhamMulti-Agent Path FindingDifferentiable Optimal Transport

    Amazon Robotics, Boston, MA, USA · Boston College, Chestnut Hill, MA, USA · UAK holds concurrent appointments as an Amazon Scholar with Amazon Robotics and as a Professor of Computer Science at Boston College

  33. Many-to-Many Multi-Agent Pickup and Delivery

    May 8, 2026Ethan Schneider, Jingkai Chen, Tianyi Gu +3Warehouse AutomationMulti-Robot Systems

    Institute of Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA 30332, USA · Symbotic Inc., Wilmington, MA 01887, USA · Northeastern University, Boston, MA 02115, USA

  34. Alternating Target-Path Planning for Scalable Multi-Agent Coordination

    May 8, 2026Yu Kumagai, Keisuke OkumuraMulti-Agent Path FindingMulti-Agent Coordination

    1Hitotsubashi University, Japan · 2National Institute of Advanced Industrial Science and Technology (AIST), Japan

  35. Learning to Communicate Locally for Large-Scale Multi-Agent Pathfinding

    May 8, 2026Valeriy Vyaltsev, Alsu Sagirova, Anton Andreychuk +5Multi-Agent Path FindingMulti-Robot Motion Planning

    CogAI Lab, Moscow, Russia

  36. Multiagent Stochastic Shortest Path Problem

    May 7, 2026Martin Jonáš, Antonín Kučera, Vojtěch Kůr +2Multi-Agent Path Finding

    Faculty of Informatics, Masaryk University, Czechia

  37. Should I Replan? Learning to Spot the Right Time in Robust MAPF Execution

    Apr 28, 2026David Zahrádka, David Woller, Denisa Mužíková +2Iterative Re-PlanningMulti-Agent Path Finding

    Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague · Faculty of Electrical Engineering, Czech Technical University in Prague · Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Czechia. +1

  38. Planning over MAPF Agent Dependencies via Multi-Dependency PIBT

    Mar 24, 2026Zixiang Jiang, Yulun Zhang, Rishi Veerapaneni +1Multi-Agent Path FindingPlanning

    University Of Melbourne · Robotics Institute, Carnegie Mellon University

  39. Conflict-Based Search for Multi-Agent Path Finding with Elevators

    Feb 24, 2026Haitong He, Xuemian Wu, Shizhe Zhao +1Multi-Agent Path FindingPath

    Global College, Shanghai Jiao Tong University, China.

  40. Adaptive-Horizon Conflict-Based Search for Closed-Loop Multi-Agent Path Finding

    Feb 12, 2026Jiarui Li, Federico Pecora, Runyu Zhang +1Multi-Agent Path FindingPath Planning

    Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA · independent contributor

  41. Multi-Agent Route Planning as a QUBO Problem

    Feb 8, 2026Renáta Rusnáková, Martin Chovanec, Juraj GazdaVehicle Routing ProblemMulti-Agent Path Finding

    Department of Computers and Informatics, Faculty of Electrical Engineering and Informatics, Technical University of Košice, Letná 9, 042 00 Košice

  42. From Discrete Plans to Real-World Execution: A World-Model-Driven Framework for Execution-Aware Multi-Agent Path Finding

    Nov 26, 2025Jingtian Yan, Shuai Zhou, He Jiang +2Multi-Agent Path FindingMulti-Robot Motion Planning

    This paper was produced by the IEEE Publication Technology Group. They are in Piscataway, NJ.