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arXiv 提交日期: 2026-03-09
📄 Abstract - A Lightweight Traffic Map for Efficient Anytime LaCAM*

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.

顶级标签: multi-agents systems robotics
详细标签: multi-agent pathfinding traffic map anytime algorithm collision-free planning search optimization 或 搜索:

一种用于高效随时算法LaCAM的轻量级交通地图 / A Lightweight Traffic Map for Efficient Anytime LaCAM


1️⃣ 一句话总结

本文提出了一种新方法,让多智能体路径规划算法LaCAM*在搜索过程中自动构建一个动态的、轻量级的交通拥堵地图,从而绕开现有方法需要预先进行大量计算的限制,在保证效率的同时显著提升了最终路径方案的质量。

源自 arXiv: 2603.07891