Adding potential-field congestion penalties to existing planners does not help one-shot MAPF, but raises lifelong MAPF throughput by up to 7x in 32x32 grid experiments.
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Enhancing Lifelong Multi-Agent Path-finding by Using Artificial Potential Fields
Adding potential-field congestion penalties to existing planners does not help one-shot MAPF, but raises lifelong MAPF throughput by up to 7x in 32x32 grid experiments.