mlsanityData to 14 Oct 2026

Multi-Robot Coordination and Layout Design for Automated Warehousing

arXiv 2305.06436 ↗First posted 10 May 2023cs.RO cs.AI cs.NEcited by 17

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Abstract (arXiv)

With the rapid progress in Multi-Agent Path Finding (MAPF), researchers have studied how MAPF algorithms can be deployed to coordinate hundreds of robots in large automated warehouses. While most works try to improve the throughput of such warehouses by developing better MAPF algorithms, we focus on improving the throughput by optimizing the warehouse layout. We show that, even with state-of-the-art MAPF algorithms, commonly used human-designed layouts can lead to congestion for warehouses with large numbers of robots and thus have limited scalability. We extend existing automatic scenario generation methods to optimize warehouse layouts. Results show that our optimized warehouse layouts (1) reduce traffic congestion and thus improve throughput, (2) improve the scalability of the automated warehouses by doubling the number of robots in some cases, and (3) are capable of generating layouts with user-specified diversity measures. We include the source code at: https://github.com/lunjohnzhang/warehouse_env_gen_public

Key facts. Cited by 17 papers in the map (data through 14 Oct 2026). Builds on 23 of its 58 references that are in the map. First posted on arXiv 10 May 2023.

Builds on

23 of 58 references.

References · 23

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  9. 2020Lifelong Multi-Agent Path Finding in Large-Scale Warehousescited by 80
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11 more
  1. 2019Increasing Generality in Machine Learning through Procedural Content Generationcited by 59
  2. 2020Illuminating Mario Scenes in the Latent Space of a Generative Adversarial Networkcited by 52
  3. 2022Deep Surrogate Assisted Generation of Environmentscited by 40
  4. 2021On the Importance of Environments in Human-Robot Coordinationcited by 37
  5. 2019Mapping Hearthstone Deck Spaces through MAP-Elites with Sliding Boundariescited by 32
  6. 2021Integrated Task Assignment and Path Planning for Capacitated Multi-Agent Pickup and Deliverycited by 30
  7. 2023pyribs: A Bare-Bones Python Library for Quality Diversity Optimizationcited by 30
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  9. 2020A Quality Diversity Approach to Automatically Generating Human-Robot Interaction Scenarios in Shared Autonomycited by 20
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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 3; 2024: 5; 2025: 5; 2026: 4.

17 papers.

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  1. 2024Guidance Graph Optimization for Lifelong Multi-Agent Path Findingcited by 13
  2. 2024Scaling Lifelong Multi-Agent Path Finding to More Realistic Settings: Research Challenges and Opportunitiescited by 10
  3. 2023Arbitrarily Scalable Environment Generators via Neural Cellular Automatacited by 9
  4. 2025Quality-Diversity Red-Teaming: Automated Generation of High-Quality and Diverse Attackers for Large Language Modelscited by 9
  5. 2023Learning Team-Based Navigation: A Review of Deep Reinforcement Learning Techniques for Multi-Agent Pathfindingcited by 6
  6. 2023Diversity from Human Feedbackcited by 5
  7. 2025Destination-to-Chutes Task Mapping Optimization for Multi-Robot Coordination in Robotic Sorting Systemscited by 3
  8. 2026KGLAMP: Knowledge Graph-guided Language model for Adaptive Multi-robot Planning and Replanningcited by 2
  9. 2024Caching-Augmented Lifelong Multi-Agent Path Findingcited by 1
  10. 2024Quality-Diversity with Limited Resourcescited by 1
  11. 2024QD-MAPPER: A Quality Diversity Framework to Automatically Evaluate Multi-Agent Path Finding Algorithms in Diverse Mapscited by 1
  12. 2025Scaling Multi-Agent Environment Co-Design with Diffusion Modelscited by 1
5 more
  1. 2026Lifelong Scalable Multi-Agent Realistic Testbed and A Comprehensive Study on Design Choices in Lifelong AGV Fleet Management Systemscited by 1
  2. 2025Enhancing Lifelong Multi-Agent Path Finding with Cache Mechanismcited by 0
  3. 2025MAPF-World: Action World Model for Multi-Agent Path Findingcited by 0
  4. 2026SPARC: Spatial-Aware Path Planning via Attentive Agent Communicationcited by 0
  5. 2026Stress-Relief Annealing: Polynomial-Time Simulation-Free Layout Optimization for Automated Warehousescited by 0