Salvato in:
| Autori principali: | , , , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2026
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| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/2603.07891 |
| Tags: |
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Sommario:
- Multi-Agent Path Finding (MAPF) aims to compute collision-free paths for multiple agents and has a wide range of practical applications. LaCAM*, an anytime configuration-based solver, currently represents the state of the art. Recent work has explored the use of guidance paths to steer LaCAM* toward configurations that avoid traffic congestion, thereby improving solution quality. However, existing approaches rely on Frank-Wolfe-style optimization that repeatedly invokes single-agent search before executing LaCAM*, resulting in substantial computational overhead for large-scale problems. Moreover, the guidance path is static and primarily beneficial for finding the first solution in LaCAM*. To address these limitations, we propose a new approach that leverages LaCAM*'s ability to construct a dynamic, lightweight traffic map during its search. Experimental results demonstrate that our method achieves higher solution quality than state-of-the-art guidance-path approaches across two MAPF variants.