Preprint
Aug 2026
A Theoretical Framework for Parallel Lifelong MAPF Using Group Decentralized Planning
In the Lifelong Multi-Agent Path Finding (L-MAPF) problem, agents must repeatedly move from one destination to another while avoiding obstacles and inter-agent collisions. Widely regarded as one of the highest-performing solutions to this problem is the Rolling-Horizon Collision Resolution (RHCR) framework. However, co...
Alex DeWeese, Jiao-Yang Li, Guannan Qu
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