Improvement of PIBT-based Solution Method for Lifelong MAPD Problems to Extend Applicable Graphs

Toshihiro Matsui

2025

Abstract

We address an extension of priority inheritance with backtracking (PIBT) for lifelong multiagent pickup-and-delivery (MAPD) problems that performs a swap operation integrated into the original algorithm to adapt specific extended case problems. The multiagent pathfinding (MAPF) problem has been widely studied as a basis for various practical multiagent systems. PIBT is a scalable and on-demand solution method for continuous MAPF problems, where each agent determines its next move in each time step by locally solving agent-move collisions. Since it can be applied to limited cases such as biconnected graphs, several extensions using additional techniques have been suggested. However, there are opportunities to extend the PIBT process with several techniques that can be integrated into the solution process itself. As the first step, we extend a solution method based on PIBT for lifelong MAPD problems, fundamental continuous problems, by integrating a specific swap task. We address detailed techniques, including additional management of priorities, subgoals, and states of agents. We also experimentally evaluate the proposed approach with several problem settings.

Paper Citation

in Harvard Style

Matsui T. (2025). Improvement of PIBT-based Solution Method for Lifelong MAPD Problems to Extend Applicable Graphs. In Proceedings of the 17th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART; ISBN 978-989-758-737-5, SciTePress, pages 123-134. DOI: 10.5220/0013243800003890

in Bibtex Style

@conference{icaart25,
author={Toshihiro Matsui},
title={Improvement of PIBT-based Solution Method for Lifelong MAPD Problems to Extend Applicable Graphs},
booktitle={Proceedings of the 17th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART},
year={2025},
pages={123-134},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013243800003890},
isbn={978-989-758-737-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 17th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART
TI - Improvement of PIBT-based Solution Method for Lifelong MAPD Problems to Extend Applicable Graphs
SN - 978-989-758-737-5
AU - Matsui T.
PY - 2025
SP - 123
EP - 134
DO - 10.5220/0013243800003890
PB - SciTePress