mlsanityData to 14 Oct 2026

LaCAM: Search-Based Algorithm for Quick Multi-Agent Pathfinding

arXiv 2211.13432 ↗First posted 24 Nov 2022cs.AI cs.MA cs.ROcited by 51

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Abstract (arXiv)

We propose a novel complete algorithm for multi-agent pathfinding (MAPF) called lazy constraints addition search for MAPF (LaCAM). MAPF is a problem of finding collision-free paths for multiple agents on graphs and is the foundation of multi-robot coordination. LaCAM uses a two-level search to find solutions quickly, even with hundreds of agents or more. At the low-level, it searches constraints about agents' locations. At the high-level, it searches a sequence of all agents' locations, following the constraints specified by the low-level. Our exhaustive experiments reveal that LaCAM is comparable to or outperforms state-of-the-art sub-optimal MAPF algorithms in a variety of scenarios, regarding success rate, planning time, and solution quality of sum-of-costs.

Key facts. Cited by 51 papers in the map (data through 14 Oct 2026). Builds on 7 of its 27 references that are in the map. First posted on arXiv 24 Nov 2022.

Builds on

7 of 27 references.

References · 7

  1. 2019Multi-Agent Pathfinding: Definitions, Variants, and Benchmarkscited by 199
  2. 2020Lifelong Multi-Agent Path Finding in Large-Scale Warehousescited by 80
  3. 2020EECBS: A Bounded-Suboptimal Search for Multi-Agent Path Findingcited by 68
  4. 2019Priority Inheritance with Backtracking for Iterative Multi-agent Path Findingcited by 57
  5. 2021Pairwise Symmetry Reasoning for Multi-Agent Path Finding Searchcited by 21
  6. 2019Representation-Optimal Multi-Robot Motion Planning using Conflict-Based Searchcited by 16
  7. 2021Iterative Refinement for Real-Time Multi-Robot Path Planningcited by 12

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 6; 2024: 11; 2025: 21; 2026: 13.

51 papers.

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  1. 2024POGEMA: A Benchmark Platform for Cooperative Multi-Agent Pathfindingcited by 21
  2. 2023Improving LaCAM for Scalable Eventually Optimal Multi-Agent Pathfindingcited by 17
  3. 2024MAPF-GPT: Imitation Learning for Multi-Agent Pathfinding at Scalecited by 17
  4. 2024Improving Learnt Local MAPF Policies with Heuristic Searchcited by 14
  5. 2024Scaling Lifelong Multi-Agent Path Finding to More Realistic Settings: Research Challenges and Opportunitiescited by 10
  6. 2024Work Smarter Not Harder: Simple Imitation Learning with CS-PIBT Outperforms Large Scale Imitation Learning for MAPFcited by 10
  7. 2025SRMT: Shared Memory for Multi-agent Lifelong Pathfindingcited by 8
  8. 2025RAILGUN: A Unified Convolutional Policy for Multi-Agent Path Finding Across Different Environments and Taskscited by 6
  9. 2025Advancing MAPF Toward the Real World: A Scalable Multi-Agent Realistic Testbed (SMART)cited by 5
  10. 2025Advancing Learnable Multi-Agent Pathfinding Solvers with Active Fine-Tuningcited by 5
  11. 2025Graph Attention-Guided Search for Dense Multi-Agent Pathfindingcited by 5
  12. 2025Lightweight and Effective Preference Construction in PIBT for Large-Scale Multi-Agent Pathfindingcited by 4
38 more
  1. 2023Tracking Progress in Multi-Agent Path Findingcited by 3
  2. 2025Destination-to-Chutes Task Mapping Optimization for Multi-Robot Coordination in Robotic Sorting Systemscited by 3
  3. 2023On Computing Makespan-Optimal Solutions for Generalized Sliding-Tile Puzzlescited by 2
  4. 2025Symbolic Planning and Multi-Agent Path Finding in Extremely Dense Environments with Unassigned Agentscited by 2
  5. 2023Engineering LaCAM^ast: Towards Real-Time, Large-Scale, and Near-Optimal Multi-Agent Pathfindingcited by 1
  6. 2024Caching-Augmented Lifelong Multi-Agent Path Findingcited by 1
  7. 2024ITA-ECBS: A Bounded-Suboptimal Algorithm for the Combined Target-Assignment and Path-Finding Problemcited by 1
  8. 2024Windowed MAPF with Completeness Guaranteescited by 1
  9. 2024Layered LA-MAPF: a decomposition of large agent MAPF instance to accelerate solving without compromising solvabilitycited by 1
  10. 2025Hybrid Quantum-Classical Multi-Agent Pathfindingcited by 1
  11. 2025LLMDR: LLM-Driven Deadlock Detection and Resolution in Multi-Agent Pathfindingcited by 1
  12. 2025Local Guidance for Configuration-Based Multi-Agent Pathfindingcited by 1
  13. 2026Planning over MAPF Agent Dependencies via Multi-Dependency PIBTcited by 1
  14. 2026Learning to Communicate Locally for Large-Scale Multi-Agent Pathfindingcited by 1
  15. 2026Discrete Diffusion for Complex and Congested Multi-Agent Path Finding with Sparse Social Attentioncited by 1
  16. 2023Computing Universal Plans for Partially Observable Multi-Agent Routing Using Answer Set Programmingcited by 0
  17. 2023Optimizing Crowd-Aware Multi-Agent Path Finding through Local Communication with Graph Neural Networkscited by 0
  18. 2024Pathfinding with Lazy Successor Generationcited by 0
  19. 2024Optimally Solving Colored Generalized Sliding-Tile Puzzles: Complexity and Boundscited by 0
  20. 2025Enhancing Lifelong Multi-Agent Path Finding with Cache Mechanismcited by 0
  21. 2025Accelerating Focal Search in Multi-Agent Path Finding with Tighter Lower Boundscited by 0
  22. 2025Multi-Agent Path Finding For Large Agents Is Intractablecited by 0
  23. 2025Enhancing Lifelong Multi-Agent Path-finding by Using Artificial Potential Fieldscited by 0
  24. 2025Budget Allocation Policies for Real-Time Multi-Agent Path Findingcited by 0
  25. 2025PANAMA: A Network-Aware MARL Framework for Multi-Agent Path Finding in Digital Twin Ecosystemscited by 0
  26. 2025Multi-Agent Path Finding via Offline RL and LLM Collaborationcited by 0
  27. 2025Sequence Pathfinder for Multi-Agent Pickup and Delivery in the Warehousecited by 0
  28. 2025Towards Information-Optimized Multi-Agent Path Finding: A Hybrid Framework with Reduced Inter-Agent Information Sharingcited by 0
  29. 2025An Analysis of Constraint-Based Multi-Agent Pathfinding Algorithmscited by 0
  30. 2026GIANT - Global Path Integration and Attentive Graph Networks for Multi-Agent Trajectory Planningcited by 0
  31. 2026A Lightweight Traffic Map for Efficient Anytime LaCAM*cited by 0
  32. 2026Alternating Target-Path Planning for Scalable Multi-Agent Coordinationcited by 0
  33. 2026CARVE-Q: Quantum-Proposed, Classically Certified Interactive Driving Repaircited by 0
  34. 2026Scalable Long-Horizon Planning with Staggered Updates for Lifelong MAPFcited by 0
  35. 2026A Theoretical Framework for Parallel Lifelong MAPF Using Group Decentralized Planningcited by 0
  36. 2026Decentralized Master-Mind: Joint Action Refinement through Iterative Intent Denoising in Multi-Agent Pathfindingcited by 0
  37. 2026Divide and Collapse: MAPF-Collapse via Exact Decomposition into Independent Sub-Instancescited by 0
  38. 2026Belief-Aware Multi-Agent Path Finding under Map Uncertaintycited by 0

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