It Takes Two to Tango: A Holistic Simulator for Joint Order Scheduling and Multi-Agent Path Finding in Robotic Warehouses
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| Main Authors: | , , , , , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866914331226013696 |
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| author | Xu, Haozheng Li, Wenhao Wei, Zifan Jin, Bo Bai, Hongxing Yang, Ben Wang, Xiangfeng |
| author_facet | Xu, Haozheng Li, Wenhao Wei, Zifan Jin, Bo Bai, Hongxing Yang, Ben Wang, Xiangfeng |
| contents | The prevailing paradigm in Robotic Mobile Fulfillment Systems (RMFS) typically treats order scheduling and multi-agent pathfinding as isolated sub-problems. We argue that this decoupling is a fundamental bottleneck, masking the critical dependencies between high-level dispatching and low-level congestion. Existing simulators fail to bridge this gap, often abstracting away heterogeneous kinematics and stochastic execution failures. We propose WareRover, a holistic simulation platform that enforces a tight coupling between OS and MAPF via a unified, closed-loop optimization interface. Unlike standard benchmarks, WareRover integrates dynamic order streams, physics-aware motion constraints, and non-nominal recovery mechanisms into a single evaluation loop. Experiments reveal that SOTA algorithms often falter under these realistic coupled constraints, demonstrating that WareRover provides a necessary and challenging testbed for robust, next-generation warehouse coordination. The project and video is available at https://hhh-x.github.io/WareRover/. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_13999 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | It Takes Two to Tango: A Holistic Simulator for Joint Order Scheduling and Multi-Agent Path Finding in Robotic Warehouses Xu, Haozheng Li, Wenhao Wei, Zifan Jin, Bo Bai, Hongxing Yang, Ben Wang, Xiangfeng Robotics The prevailing paradigm in Robotic Mobile Fulfillment Systems (RMFS) typically treats order scheduling and multi-agent pathfinding as isolated sub-problems. We argue that this decoupling is a fundamental bottleneck, masking the critical dependencies between high-level dispatching and low-level congestion. Existing simulators fail to bridge this gap, often abstracting away heterogeneous kinematics and stochastic execution failures. We propose WareRover, a holistic simulation platform that enforces a tight coupling between OS and MAPF via a unified, closed-loop optimization interface. Unlike standard benchmarks, WareRover integrates dynamic order streams, physics-aware motion constraints, and non-nominal recovery mechanisms into a single evaluation loop. Experiments reveal that SOTA algorithms often falter under these realistic coupled constraints, demonstrating that WareRover provides a necessary and challenging testbed for robust, next-generation warehouse coordination. The project and video is available at https://hhh-x.github.io/WareRover/. |
| title | It Takes Two to Tango: A Holistic Simulator for Joint Order Scheduling and Multi-Agent Path Finding in Robotic Warehouses |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.13999 |