Towards Holistic Approach to Robust Execution of MAPF Plans

David Zahrádka, David Zahrádka, Denisa Mužíková, Miroslav Kulich, Jiří Švancara, Roman Barták

2025

Abstract

Multi-agent path finding (MAPF) deals with the problem of navigating a set of agents in a shared environment to reach their destinations without collisions. Even if the plan is collision-free, some delay during plan execution may lead to collision of agents if they execute the plans blindly. In this position paper, we discuss the concept of robust execution of MAPF plans by exploiting an action dependency graph. We suggest how to evaluate the effect of delay by computing a slack-like value for not yet visited locations, and we propose a three-layer architecture – retiming, rescheduling, and replanning to handle delays effectively.

Paper Citation

in Harvard Style

Zahrádka D., Mužíková D., Kulich M., Švancara J. and Barták R. (2025). Towards Holistic Approach to Robust Execution of MAPF Plans. In Proceedings of the 17th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART; ISBN 978-989-758-737-5, SciTePress, pages 624-631. DOI: 10.5220/0013319700003890

in Bibtex Style

@conference{icaart25,
author={David Zahrádka and Denisa Mužíková and Miroslav Kulich and Jiří Švancara and Roman Barták},
title={Towards Holistic Approach to Robust Execution of MAPF Plans},
booktitle={Proceedings of the 17th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART},
year={2025},
pages={624-631},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013319700003890},
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 - Towards Holistic Approach to Robust Execution of MAPF Plans
SN - 978-989-758-737-5
AU - Zahrádka D.
AU - Mužíková D.
AU - Kulich M.
AU - Švancara J.
AU - Barták R.
PY - 2025
SP - 624
EP - 631
DO - 10.5220/0013319700003890
PB - SciTePress