Online Multi-Agent Path Finding: New Results


  • Jonathan Morag Ben-Gurion University
  • Ariel Felner Ben-Gurion University
  • Roni Stern Ben Gurion University of the Negev
  • Dor Atzmon Ben-Gurion University
  • Eli Boyarski Ben-Gurion University of the Negev


Analysis Of Search Algorithms, Combinatorial Optimization, Continuous Problem Solving


Online MAPF extends the classical Multi-Agent Path Finding problem (MAPF) by considering a more realistic problem in which new agents may appear over time. As online solvers are not aware of which agents will join in the future, the notion of snapshot-optimal was defined, where only current knowledge is considered. In this paper, we perform an extensive comparison between oracle-optimal solutions (where the solver is preinformed of future agents), snapshot-optimal solutions, and suboptimal solutions obtained by prioritised planning.