Multi-Agent Path Finding

Also known as MAPF

Overview

Multi-agent path finding studies how to route agents to their goals without collisions, often minimizing travel cost or completion time; in lifelong settings, agents repeatedly receive new tasks. Classical methods include Conflict-Based Search and space-time search for high-quality or optimal plans, while prioritized planning, PIBT, and LaCAM trade some solution quality for scalability. Other approaches use learning, local communication, optimization, or hybrid methods that combine fast planning with conflict repair, and many now address task assignment, congestion, and execution on real robots. A central tension is balancing guarantees and realistic motion or disturbances against the speed and scale needed for dense fleets.

Latest papers

CardsList

92 papers12 papers in the last four weeks, up 33% on the four weeks before. 0.1% of all new papers.

  1. Bidirectionality is Necessary in Cellular Machines for Exact-Arrival Multi-Agent Path Finding

    Oct 19, 2026Masashi AonoMulti-Agent Path FindingCellular Automata

  2. A GPU-Resident Pipeline for Multi-Robot 3D Inspection with Limited Perception

    Oct 19, 2026Kryštof Pšenička, Stefan EdelkampRobotic InspectionMulti-Robot Motion Planning

  3. Map-Distribution Mixture-of-Experts for Multi-Agent Pathfinding

    Oct 19, 2026Fumimaro Suzuki, Keisuke OkumuraMulti-Agent Path FindingMixture-of-Experts Models

  4. Policy Search in Code Space for Multi-Agent Pathfinding

    Oct 19, 2026Matthias Eder, Pantelis Emmanouil, Vivek Farias +7Multi-Agent Path FindingProgram Synthesis

  5. CARVS: A Congestion-Aware Algorithm for Online Multi-Agent Pickup-and-Delivery in Human-Collaborative Warehouses

    Oct 17, 2026Chaoran Li, Zeyuan Zhao, Shao ZhangMulti-Agent Path FindingRobotics

  6. The Cost of Classical Multi-Agent Path Finding

    Oct 7, 2026Alvin Combrink, Sabino Francesco Roselli, Martin FabianMulti-Agent Path FindingGraph-Based Planning

  7. Shared-Roadmap Generation and Evaluator for Multi-Agent Path Planning Using Heterogeneous Graph Neural Network

    Oct 6, 2026Brandon Ho, Nikola Rogers, Seung-Kyum ChoiMulti-Agent PlanningMulti-Agent Path Finding

  8. Training-Free Diffusion Planning with Analytical Local Scores

    Oct 1, 2026Michael Y. Fatemi, Jinhao Liang, Ferdinando FiorettoMulti-Robot Motion PlanningConstrained Motion Planning

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

    Sep 30, 2026Viraj Parimi, Shao-Hung Chan, Han Zhang +2Belief-Space PlanningGaussian Belief Propagation

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

    Sep 28, 2026Yuan Zhou, Zhenyu Hou, Guangtong Xu +4Graph-Based PlanningMulti-Agent Path Finding

  11. Collision-free Movement on Grids and Beyond

    Sep 25, 2026Hendrik Molter, Meirav ZehaviMulti-Robot Motion PlanningMulti-Agent Path Finding

  12. TRACS: A Geometry-Aware Framework for Scalable Multi-Agent Path Finding in Warehouses

    Sep 19, 2026Siddhant Erande, Anuj TiwariMulti-Agent Path FindingMotion Planning

  13. ITA-LaCAM: A Complete and Scalable TAPF Solver via Assignment-Aware Configuration-Space Search

    Sep 13, 2026Yimin Tang, Han Zhang, Shao-Hung Chan +4Multi-Agent Path FindingMulti-Robot Task Allocation

  14. Hierarchical Belief Modeling for Zero-Shot Opponent Adaptation in Partially Observable Multi-Agent Navigation

    Sep 11, 2026Kowei Shih, Lu Cheng, Zeyu Wang +2Opponent ModelingPartially Observable RL

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

    Sep 9, 2026Alessandro Bonetti, Silvia Proia, Simone Guidetti +1Robot NavigationRobust MAPF

  16. HiRAD: A Flexible Large-Scale AGV Routing System

    Sep 9, 2026Yunjie Huang, Ruizhong Wu, Mengxuan Zhang +3Hierarchical RLVehicle Routing

  17. Graph-Based Safe Reinforcement Learning for Multi-Agent Systems with Time-Varying Topology

    Sep 8, 2026Xiao Sizhe, Dong Lijing, Bai Rui +1Multi-Robot CoordinationSafe RL

  18. Eventually Optimal and Scalable Multi-Agent Planning for Block Cave Mining

    Sep 7, 2026Christopher Leet, Paolo Forte, Uwe Köckemann +2Multi-Agent PlanningMulti-Robot Task Allocation

  19. Dynamic Haven Selection for Multi-Agent Pickup and Delivery in Constrained Warehouses

    Aug 27, 2026Taisei Hirayama, Kohei Yoshida, Hiroki Sakaji +1Multi-Agent PlanningMulti-Agent Path Finding

  20. Fixed-Haven Reservation for Online Multi-Agent Pickup and Delivery in Dense Warehouses

    Aug 27, 2026Taisei Hirayama, Kohei Yoshida, Hiroki Sakaji +1Warehouse AutomationMulti-Agent Planning

  21. Pivot-and-Station Multi-Agent Path Finding: Solvability, Complexity, and Algorithms

    Aug 25, 2026Andrea Di Nezza, Mihir Patel, Fabio Fagnani +1Multi-Agent Path Finding

  22. A Theoretical Framework for Parallel Lifelong MAPF Using Group Decentralized Planning

    Aug 18, 2026Alex DeWeese, Jiaoyang Li, Guannan QuMulti-Agent Path FindingMulti-Agent Planning

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

    Aug 8, 2026Alvin Combrink, Sabino Francesco Roselli, Martin FabianRobust MAPFConflict-Based Search

  24. Decentralized Multi-Agent Urban Traffic Management via Spatio-Temporal Mobility Profile Planning

    Aug 8, 2026Lorenzo Mario Amorosa, Lorenzo Farina, Vittorio Todisco +1Multi-Agent CoordinationIntelligent Transportation Systems

  25. Complete, Scalable, and Robust Prioritized Planning for Multi-Robot Ordered Storage and Retrieval at Maximum Capacity

    Aug 7, 2026William Zhang, Tzvika Geft, Jingjin Yu +1Multi-Robot Motion PlanningMulti-Robot Systems