# Conflict-Based Search for Multi-Agent Path Finding with Elevators

arXiv: https://arxiv.org/abs/2602.20512 · HTML: https://mlsanity.com/paper/2602.20512/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 24 Feb 2026.

## Built on by (most cited first, 1 of 1)

- [Lifelong Multi-Subsystem Pickup and Delivery with Buffer-Limited Handover Stations](https://mlsanity.com/paper/2607.17724/) (2026)

## Abstract (arXiv)

This paper investigates a problem called Multi-Agent Path Finding with Elevators (MAPF-E), which seeks conflict-free paths for multiple agents from their start to goal locations that may locate on different floors, and the agents can use elevators to travel between floors. The existence of elevators complicates the interaction among the agents and introduces new challenges to the planning. On the one hand, elevators can cause many conflicts among the agents due to its relatively long traversal time across floors, especially when many agents need to reach a different floor. On the other hand, the planner has to reason in a larger state space including the states of the elevators, besides the locations of the agents.