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Searching with Consistent Prioritization for Multi-Agent Path Finding

arXiv 1812.06356 ↗First posted 15 Dec 2018cs.AI cs.MA cs.ROcited by 80

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Abstract (arXiv)

We study prioritized planning for Multi-Agent Path Finding (MAPF). Existing prioritized MAPF algorithms depend on rule-of-thumb heuristics and random assignment to determine a fixed total priority ordering of all agents a priori. We instead explore the space of all possible partial priority orderings as part of a novel systematic and conflict-driven combinatorial search framework. In a variety of empirical comparisons, we demonstrate state-of-the-art solution qualities and success rates, often with similar runtimes to existing algorithms. We also develop new theoretical results that explore the limitations of prioritized planning, in terms of completeness and optimality, for the first time.

Key facts. Cited by 80 papers in the map (data through 7 Oct 2026). First posted on arXiv 15 Dec 2018.

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Citing papers per year: 2021: 6; 2022: 15; 2023: 8; 2024: 16; 2025: 21; 2026: 14.

80 papers.

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  1. 2021Learning Safe Multi-Agent Control with Decentralized Neural Barrier Certificatescited by 71
  2. 2023Learn to Follow: Decentralized Lifelong Multi-agent Pathfinding via Planning and Learningcited by 27
  3. 2022Multi-Agent Path Finding with Prioritized Communication Learningcited by 17
  4. 2023Multi-Robot Coordination and Layout Design for Automated Warehousingcited by 17
  5. 2024MAPF-GPT: Imitation Learning for Multi-Agent Pathfinding at Scalecited by 17
  6. 2022Multi-Agent Coordination via Multi-Level Communicationcited by 14
  7. 2023Traffic Flow Optimisation for Lifelong Multi-Agent Path Findingcited by 14
  8. 2022Multi-Goal Multi-Agent Pickup and Deliverycited by 12
  9. 2024Guidance Graph Optimization for Lifelong Multi-Agent Path Findingcited by 12
  10. 2023Decentralized Monte Carlo Tree Search for Partially Observable Multi-agent Pathfindingcited by 11
  11. 2021Subdimensional Expansion for Multi-objective Multi-agent Path Findingcited by 9
  12. 2024Scaling Lifelong Multi-Agent Path Finding to More Realistic Settings: Research Challenges and Opportunitiescited by 9
38 more
  1. 2021Cooperative Multi-Agent Path Finding: Beyond Path Planning and Collision Avoidancecited by 8
  2. 2022Learning Control Admissibility Models with Graph Neural Networks for Multi-Agent Navigationcited by 8
  3. 2024Multi-Agent Motion Planning For Differential Drive Robots Through Stationary State Searchcited by 8
  4. 2022Cooperative Task and Motion Planning for Multi-Arm Assembly Systemscited by 7
  5. 2022Graph-Based Multi-Robot Path Finding and Planningcited by 7
  6. 2024Ensembling Prioritized Hybrid Policies for Multi-agent Pathfindingcited by 7
  7. 2022DC-MRTA: Decentralized Multi-Robot Task Allocation and Navigation in Complex Environmentscited by 6
  8. 2022SOCIALMAPF: Optimal and Efficient Multi-Agent Path Finding with Strategic Agents for Social Navigationcited by 6
  9. 2023SACHA: Soft Actor-Critic with Heuristic-Based Attention for Partially Observable Multi-Agent Path Findingcited by 6
  10. 2023Bidirectional Temporal Plan Graph: Enabling Switchable Passing Orders for More Efficient Multi-Agent Path Finding Plan Executioncited by 6
  11. 2021Loosely Synchronized Search for Multi-agent Path Finding with Asynchronous Actionscited by 5
  12. 2024Large-Scale Multirobot Coverage Path Planning on Grids With Path Deconflictioncited by 5
  13. 2025RAILGUN: A Unified Convolutional Policy for Multi-Agent Path Finding Across Different Environments and Taskscited by 5
  14. 2025Advancing MAPF Toward the Real World: A Scalable Multi-Agent Realistic Testbed (SMART)cited by 5
  15. 2025Advancing Learnable Multi-Agent Pathfinding Solvers with Active Fine-Tuningcited by 5
  16. 2022Leveraging Experience in Lifelong Multi-Agent Pathfindingcited by 3
  17. 2022The Multi-Agent Pickup and Delivery Problem: MAPF, MARL and Its Warehouse Applicationscited by 3
  18. 2022Effective Integration of Weighted Cost-to-go and Conflict Heuristic within Suboptimal CBScited by 3
  19. 2022Hypergraph-based Multi-Robot Task and Motion Planningcited by 3
  20. 2024Multi-agent Path Finding for Cooperative Autonomous Drivingcited by 3
  21. 2025DeepFleet: Multi-Agent Foundation Models for Mobile Robotscited by 3
  22. 2026Learning-guided Prioritized Planning for Lifelong Multi-Agent Path Finding in Warehouse Automationcited by 3
  23. 2021A Competitive Analysis of Online Multi-Agent Path Findingcited by 2
  24. 2023The Study of Highway for Lifelong Multi-Agent Path Findingcited by 2
  25. 2024Optimal and Bounded Suboptimal Any-Angle Multi-agent Pathfindingcited by 2
  26. 2025Space-Time Graphs of Convex Sets for Multi-Robot Motion Planningcited by 2
  27. 2025Symbolic Planning and Multi-Agent Path Finding in Extremely Dense Environments with Unassigned Agentscited by 2
  28. 2021Multi-Robot Routing with Time Windows: A Column Generation Approachcited by 1
  29. 2022Conflict-Based Search for Explainable Multi-Agent Path Findingcited by 1
  30. 2024Scalable Mechanism Design for Multi-Agent Path Findingcited by 1
  31. 2024Caching-Augmented Lifelong Multi-Agent Path Findingcited by 1
  32. 2024ITA-ECBS: A Bounded-Suboptimal Algorithm for the Combined Target-Assignment and Path-Finding Problemcited by 1
  33. 2024Multi-agent Path Finding for Mixed Autonomy Traffic Coordinationcited by 1
  34. 2024QD-MAPPER: A Quality Diversity Framework to Automatically Evaluate Multi-Agent Path Finding Algorithms in Diverse Mapscited by 1
  35. 2024Layered LA-MAPF: a decomposition of large agent MAPF instance to accelerate solving without compromising solvabilitycited by 1
  36. 2024Solving Multiagent Path Finding on Highly Centralized Networkscited by 1
  37. 2025Hybrid Quantum-Classical Multi-Agent Pathfindingcited by 1
  38. 2025WinkTPG: An Execution Framework for Multi-Agent Path Finding Using Temporal Reasoningcited by 1

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