Zhenyu Song

Dual-Layer PIBT for Lifelong Multi-Agent Pathfinding with Narrow Passages

Lifelong Multi-Agent Pathfinding (Lifelong MAPF) is an extension of the Multi-Agent Pathfinding (MAPF) problem. It has significant applications in scenarios such as warehouse logistics and delivery services. Narrow passages that restrict side-by-side traversal are common in such scenarios, posing a …