Time-Independent Planning for Multiple Moving Agents

Typical Multi-agent Path Finding (MAPF) solvers assume that agents move synchronously, thus neglecting the reality gap in timing assumptions, e.g., delays caused by an imperfect execution of asynchronous moves. So far, two policies enforce a robust MAPF plans taken as input: either forcing to synchronize or executing while preserving temporal dependencies. This paper proposes alternative approach, called time-independent planning, which is both online and distributed. We represent transition system changes configurations according atomic actions agents, use it generate schedule. Empirical results simulated environment with stochastic agents' moves support validity our proposal.