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Authors: David Zahrádka 1 ; 2 ; Denisa Mužíková 1 ; Miroslav Kulich 2 ; Jiří Švancara 3 and Roman Barták 3

Affiliations: 1 Dept. of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic ; 2 Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic ; 3 Faculty of Mathematics and Physics, Charles University, Prague, Czech Republic

Keyword(s): Path-Planning, Multi-Agent Environment, Plan Execution, Action Dependency Graph, Replanning.

Abstract: Multi-agent path finding (MAPF) deals with the problem of navigating a set of agents in a shared environment to reach their destinations without collisions. Even if the plan is collision-free, some delay during plan execution may lead to collision of agents if they execute the plans blindly. In this position paper, we discuss the concept of robust execution of MAPF plans by exploiting an action dependency graph. We suggest how to evaluate the effect of delay by computing a slack-like value for not yet visited locations, and we propose a three-layer architecture – retiming, rescheduling, and replanning to handle delays effectively.

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Paper citation in several formats:
Zahrádka, D., Mužíková, D., Kulich, M., Švancara, J., Barták and R. (2025). Towards Holistic Approach to Robust Execution of MAPF Plans. In Proceedings of the 17th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART; ISBN 978-989-758-737-5; ISSN 2184-433X, SciTePress, pages 624-631. DOI: 10.5220/0013319700003890

@conference{icaart25,
author={David Zahrádka and Denisa Mužíková and Miroslav Kulich and Ji\v{r}í Švancara and Roman Barták},
title={Towards Holistic Approach to Robust Execution of MAPF Plans},
booktitle={Proceedings of the 17th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART},
year={2025},
pages={624-631},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013319700003890},
isbn={978-989-758-737-5},
issn={2184-433X},
}

TY - CONF

JO - Proceedings of the 17th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART
TI - Towards Holistic Approach to Robust Execution of MAPF Plans
SN - 978-989-758-737-5
IS - 2184-433X
AU - Zahrádka, D.
AU - Mužíková, D.
AU - Kulich, M.
AU - Švancara, J.
AU - Barták, R.
PY - 2025
SP - 624
EP - 631
DO - 10.5220/0013319700003890
PB - SciTePress

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