Preprint
Aug 2026
Scalable Long-Horizon Planning with Staggered Updates for Lifelong MAPF
This work proposes Path Updates over Staggered Horizons (PUSH), a LMAPF planner capable of coordinating thousands of agents in under a second while planning over multi-step horizons, and integrates EPIBT-inspired priority inheritance, backtracking, and anytime improvements into its windowed planning.
Vaibhav Sanjay, Jiao-Yang Li
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