Tootfinder

Scalable Multi-Agent Path Finding using Collision-Aware Dynamic Alert Mask and a Hybrid Execution Strategy
Bharath Muppasani, Ritirupa Dey, Biplav Srivastava, Vignesh Narayanan
https://arxiv.org/abs/2510.09469

Scalable Multi-Agent Path Finding using Collision-Aware Dynamic Alert Mask and a Hybrid Execution Strategy
Multi-agent pathfinding (MAPF) remains a critical problem in robotics and autonomous systems, where agents must navigate shared spaces efficiently while avoiding conflicts. Traditional centralized algorithms that have global information, such as Conflict-Based Search (CBS), provide high-quality solutions but become computationally expensive in large-scale scenarios due to the combinatorial explosion of conflicts that need resolution. Conversely, distributed approaches that have local informatio…