PUSH: A New LMAPF Planner for Scalable Long-Horizon Planning
A new planning method called Path Updates over Staggered Horizons (PUSH) has been developed by researchers for Lifelong Multi-Agent Path Finding (LMAPF). This innovative planner can manage thousands of agents in less than a second while considering multi-step horizons. It overcomes the challenges faced by current reactive systems such as PIBT and Enhanced PIBT (EPIBT), which, while effective for large fleets, struggle with temporal myopia. Additionally, it addresses the high planning costs associated with windowed planners like RHCR. By merging the advantages of PIBT and TP, PUSH facilitates long-horizon planning on diverse maps without the limitations of structured settings. The research can be found on arXiv with the identifier 2608.06702.
Key facts
- PUSH is a new LMAPF planner for scalable long-horizon planning.
- It coordinates thousands of agents in under a second.
- PUSH plans over multi-step horizons.
- It addresses temporal myopia of PIBT and EPIBT.
- It overcomes scalability issues of RHCR.
- It works on general maps, unlike TP.
- The paper is on arXiv (2608.06702).
- The work combines advantages of PIBT and TP.
Entities
Institutions
- arXiv