Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Lifelong Multi-Agent Path Finding in Large-Scale Warehouses   Multi-Agent Path Finding (MAPF) is the problem of moving a team of agents to
their goal locations without collisions. In this paper, we study the lifelong
variant of MAPF, where agents are constantly engaged with new goal locations,
such as in large-scale automated warehouses. We propose a new framework
Rolling-Horizon Collision Resolution (RHCR) for solving lifelong MAPF by
decomposing the problem into a sequence of Windowed MAPF instances, where a
Windowed MAPF solver resolves collisions among the paths of the agents only
within a bounded time horizon and ignores collisions beyond it. RHCR is
particularly well suited to generating pliable plans that adapt to continually
arriving new goal locations. We empirically evaluate RHCR with a variety of
MAPF solvers and show that it can produce high-quality solutions for up to
1,000 agents (= 38.9\% of the empty cells on the map) for simulated warehouse
instances, significantly outperforming existing work.

14
The categories of this paper are: math-ph
7
The categories of this paper are: hep-th
26
The categories of this paper are: bayes-an
36
The categories of this paper are: cmp-lg
33
The categories of this paper are: plasm-ph
5
The categories of this paper are: gr-qc
6
The categories of this paper are: astro-ph
3
The categories of this paper are: physics
8
The categories of this paper are: hep-ex
15
The categories of this paper are: nucl-ex
21
The categories of this paper are: adap-org
29
The categories of this paper are: funct-an
9
The categories of this paper are: nlin
32
The categories of this paper are: atom-ph
16
The categories of this paper are: stat
28
The categories of this paper are: alg-geom