
The core message of this article is that when a multi-agent path finding plan becomes invalid due to unexpected delays, the plan can be efficiently repaired by introducing additional delays to some agents, rather than replanning from scratch.


coremsg

optimizing-multi-agent-path-planning-by-introducing-delays


Optimizing Multi-Agent Path Planning by Introducing Delays


title_rewrite


ITA-ECBS, a new bounded-suboptimal algorithm, efficiently solves the Combined Target Assignment and Path Finding (TAPF) problem by incorporating an additional lower bound matrix and employing the shortest path algorithm to accelerate the focal search.


efficient-bounded-suboptimal-algorithm-for-combined-target-assignment-and-path-planning-problem


Efficient Bounded-Suboptimal Algorithm for Combined Target Assignment and Path Planning Problem
