Prioritized Planning for Continuous-time Lifelong Multi-agent Pathfinding

Abstract

Multi-agent Path Finding (MAPF) is the problem of planning collision-free movements of agents so that they get from where they are to where they need to be. Commonly, agents are located on a graph and can traverse edges. This problem has many variations and has been studied for decades. Two such variations are the continuous-time and the lifelong MAPF problems. In the former, edges have non-unit lengths and volumetric agents can traverse them at any real-valued time. In the latter, agents must attend to a continuous stream of incoming tasks. Much work has been devoted to designing solution methods within these two areas. To our knowledge, however, the combined problem of continuous-time lifelong MAPF has yet to be addressed. This work addresses continuous-time lifelong MAPF with volumetric agents by presenting the fast and sub-optimal Continuous-time Prioritized Lifelong Planner (CPLP). CPLP continuously assigns agents to tasks and computes plans using a combination of two path planners; one based on CCBS and the other based on SIPP. Experimental results with up to 800 agents on graphs with up to 12 000 vertices demonstrate practical performance, where maximum planning times fall within the available time budget. Additionally, CPLP ensures collision-free movement even when failing to meet this budget. Therefore, the robustness of CPLP highlights its potential for real-world applications.