# Multi-agent Path Finding in Continuous Environment

arXiv: https://arxiv.org/abs/2409.10680 · HTML: https://mlsanity.com/paper/2409.10680/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 5 of its 21 references that are in the map.
- First posted on arXiv 16 Sep 2024.

## Builds on (most cited first, 5 of 5)

- [Improving Continuous-time Conflict Based Search](https://mlsanity.com/paper/2101.09723/) (2021)
- [Multi-agent RRT*: Sampling-based Cooperative Pathfinding (Extended Abstract)](https://mlsanity.com/paper/1302.2828/) (2013)
- [Cooperative Pathfinding based on memory-efficient Multi-agent RRT*](https://mlsanity.com/paper/1911.03927/) (2019)
- [Complete Decentralized Method for On-Line Multi-Robot Trajectory Planning in Valid Infrastructures](https://mlsanity.com/paper/1501.07704/) (2015)
- [Efficient Multi-Agent Global Navigation Using Interpolating Bridges](https://mlsanity.com/paper/1607.07472/) (2016)

## Abstract (arXiv)

We address a variant of multi-agent path finding in continuous environment (CE-MAPF), where agents move along sets of smooth curves. Collisions between agents are resolved via avoidance in the space domain. A new Continuous Environment Conflict-Based Search (CE-CBS) algorithm is proposed in this work. CE-CBS combines conflict-based search (CBS) for the high-level search framework with RRT* for low-level path planning. The CE-CBS algorithm is tested under various settings on diverse CE-MAPF instances. Experimental results show that CE-CBS is competitive w.r.t. to other algorithms that consider continuous aspect in MAPF such as MAPF with continuous time.