Lifelong Multi-Agent Path Finding in Large-Scale Warehouses

Multi-Agent Path Finding (MAPF) is the problem of moving a team agents to their goal locations without collisions. In this paper, we study lifelong variant MAPF, where are constantly engaged with new locations, such as in large-scale automated warehouses. We propose framework Rolling-Horizon Collision Resolution (RHCR) for solving MAPF by decomposing into sequence Windowed instances, solver resolves collisions among paths only within bounded time horizon and ignores beyond it. RHCR particularly well suited generating pliable plans that adapt continually arriving locations. empirically evaluate variety solvers show it can produce high-quality solutions up 1,000 (= 38.9% empty cells on map) simulated warehouse significantly outperforming existing work.