Pith Number

pith:IAKM6TAV

pith:2026:IAKM6TAVDEAOF6WCWBFQFVWI7Q

not attested not anchored not stored refs resolved

From Gridworlds to Warehouses: Adapting Lightweight One-shot Multi-Agent Pathfinding for AGVs

Hiroki Nagai, Keisuke Okumura

Adapting MAPF for warehouse AGVs with motion constraints shows PIBT scales better than PP or LNS2 for large teams.

arxiv:2605.15799 v1 · 2026-05-15 · cs.MA · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{IAKM6TAVDEAOF6WCWBFQFVWI7Q}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

Our experiments reveal that PP and LNS2 struggle to solve instances with many agents, while PIBT-based approaches achieve preferable scalability with increased solution cost.

C2weakest assumption

The four listed constraints (straight motion only, multi-step rotations, acceleration/deceleration, and follower-collision prohibition) are assumed to be sufficient to close the main reality gaps for differential-drive AGVs while remaining tractable for discrete search.

C3one line summary

Adapts PP, LNS2, PIBT and LaCAM to MAWPF with AGV motion constraints and shows PIBT variants scale better than PP or LNS2 at the cost of longer paths.

References

21 extracted · 21 resolved · 1 Pith anchors

[1] Prioritized sipp for multi-agent path finding with kinematic constraints 2021

[2] The league of robot runners competition: Goals, designs, and implementation 2024

[3] A multiagent approach to autonomous intersection manage- ment.Journal of Artificial Intelligence Research (JAIR), 2008

[4] On multiple moving objects.Al- gorithmica, 1987

[5] [Hartet al., 1968 ] Peter E. Hart, Nils J. Nilsson, and Bertram Raphael. A formal basis for the heuristic determination of minimum cost paths.IEEE Transactions on Systems Science and Cybernetics, 1968

Receipt and verification

First computed	2026-05-20T00:01:18.950447Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4014cf4c151900e2fac2b04b02d6c8fc22dd2f6a76f8f6db91906b19cac9550e

Aliases

arxiv: 2605.15799 · arxiv_version: 2605.15799v1 · doi: 10.48550/arxiv.2605.15799 · pith_short_12: IAKM6TAVDEAO · pith_short_16: IAKM6TAVDEAOF6WC · pith_short_8: IAKM6TAV

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/IAKM6TAVDEAOF6WCWBFQFVWI7Q \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 4014cf4c151900e2fac2b04b02d6c8fc22dd2f6a76f8f6db91906b19cac9550e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "6f19535c80b882afaca847ba8c7ed6f926342388dda061cc7ad79243197e40f0",
    "cross_cats_sorted": [
      "cs.RO"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.MA",
    "submitted_at": "2026-05-15T09:55:35Z",
    "title_canon_sha256": "87ca1dcd65c40788d936e60edd4fc54568e1349cd7329a6db2c51e28f3bbce0e"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.15799",
    "kind": "arxiv",
    "version": 1
  }
}