# Two Techniques That Enhance the Performance of Multi-robot Prioritized Path Planning

arXiv: https://arxiv.org/abs/1805.01270 · HTML: https://mlsanity.com/paper/1805.01270/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 3 May 2018.

## Built on by (most cited first, 2 of 2)

- [Improving LaCAM for Scalable Eventually Optimal Multi-Agent Pathfinding](https://mlsanity.com/paper/2305.03632/) (2023)
- [Engineering LaCAM^ast: Towards Real-Time, Large-Scale, and Near-Optimal Multi-Agent Pathfinding](https://mlsanity.com/paper/2308.04292/) (2023)

## Abstract (arXiv)

We introduce and empirically evaluate two techniques aimed at enhancing the performance of multi-robot prioritized path planning. The first technique is the deterministic procedure for re-scheduling (as opposed to well-known approach based on random restarts), the second one is the heuristic procedure that modifies the search-space of the individual planner involved in the prioritized path finding.