Enhancing Lifelong Multi-Agent Path-finding by Using Artificial Potential Fields
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arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866915311425421312 |
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| author | Pertzovsky, Arseniy Stern, Roni Felner, Ariel Zivan, Roie |
| author_facet | Pertzovsky, Arseniy Stern, Roni Felner, Ariel Zivan, Roie |
| contents | We explore the use of Artificial Potential Fields (APFs) to solve Multi-Agent Path Finding (MAPF) and Lifelong MAPF (LMAPF) problems. In MAPF, a team of agents must move to their goal locations without collisions, whereas in LMAPF, new goals are generated upon arrival. We propose methods for incorporating APFs in a range of MAPF algorithms, including Prioritized Planning, MAPF-LNS2, and Priority Inheritance with Backtracking (PIBT). Experimental results show that using APF is not beneficial for MAPF but yields up to a 7-fold increase in overall system throughput for LMAPF. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_22753 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Enhancing Lifelong Multi-Agent Path-finding by Using Artificial Potential Fields Pertzovsky, Arseniy Stern, Roni Felner, Ariel Zivan, Roie Artificial Intelligence Multiagent Systems Robotics We explore the use of Artificial Potential Fields (APFs) to solve Multi-Agent Path Finding (MAPF) and Lifelong MAPF (LMAPF) problems. In MAPF, a team of agents must move to their goal locations without collisions, whereas in LMAPF, new goals are generated upon arrival. We propose methods for incorporating APFs in a range of MAPF algorithms, including Prioritized Planning, MAPF-LNS2, and Priority Inheritance with Backtracking (PIBT). Experimental results show that using APF is not beneficial for MAPF but yields up to a 7-fold increase in overall system throughput for LMAPF. |
| title | Enhancing Lifelong Multi-Agent Path-finding by Using Artificial Potential Fields |
| topic | Artificial Intelligence Multiagent Systems Robotics |
| url | https://arxiv.org/abs/2505.22753 |