The paper formalizes streaming MAPF with periodic agent streams, presents the optimal ASCBS algorithm using cyclic constraints, and demonstrates runtime advantages over standard CBS as the working horizon grows.
Multi-agent path finding with delay probabilities
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Streaming Multi-agent Pathfinding
The paper formalizes streaming MAPF with periodic agent streams, presents the optimal ASCBS algorithm using cyclic constraints, and demonstrates runtime advantages over standard CBS as the working horizon grows.