TY - GEN
T1 - Enhancing Lifelong Multi-Agent Path-finding by Using Artificial Potential Fields
AU - Pertzovsky, Arseniy
AU - Stern, Roni
AU - Felner, Ariel
AU - Zivan, Roie
N1 - Publisher Copyright:
© 2025 International Foundation for Autonomous Agents and Multiagent Systems (www.ifaamas.org).
PY - 2025/1/1
Y1 - 2025/1/1
N2 - We explore the use of Artificial Potential Fields (APFs) to solve Lifelong Multi-Agent Path Finding (LMAPF) problems. In LMAPF, a team of agents must move to their goal locations without collisions, and new goals are generated upon arrival. We propose methods for incorporating APFs in a range of LMAPF algorithms, including Prioritized Planning and MAPF-LNS2. Experimental results show that using APF yields up to a 7-fold increase in overall system throughput for LMAPF.
AB - We explore the use of Artificial Potential Fields (APFs) to solve Lifelong Multi-Agent Path Finding (LMAPF) problems. In LMAPF, a team of agents must move to their goal locations without collisions, and new goals are generated upon arrival. We propose methods for incorporating APFs in a range of LMAPF algorithms, including Prioritized Planning and MAPF-LNS2. Experimental results show that using APF yields up to a 7-fold increase in overall system throughput for LMAPF.
KW - Artificial Potential Fields
KW - Multi-agent Pathfinding
KW - Multi-robot Path Planning
UR - https://www.scopus.com/pages/publications/105009828666
M3 - Conference contribution
AN - SCOPUS:105009828666
T3 - Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS
SP - 2711
EP - 2713
BT - Proceedings of the 24th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2025
A2 - Vorobeychik, Yevgeniy
A2 - Das, Sanmay
A2 - Nowe, Ann
PB - International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS)
T2 - 24th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2025
Y2 - 19 May 2025 through 23 May 2025
ER -