Practical Consideration for Optimal MAPFr Solvers

Andy Li, Zhe Chen, Daniel Harabor

Keywords: Multi-Agent PathFinding, MAPFR, Heuristic search

Abstract:

Multi-Agent Path Finding in the Real domain (\mapfr) extends classical MAPF to more realistic settings by allowing continuous time and real-valued movement costs.
However, this extension introduces significant practical challenges.
This paper examines fundamental issues in implementing optimal \mapfr algorithms, including potential ambiguities in collision detection, complications arising from real number representation, precision errors, and even inconsistencies within single algorithm implementation.
These challenges affect the reproducibility of the published work, they complicate comparisons between competing implementations and undermine theoretical claims.
We propose guiding principles to minimise inconsistencies and outline the necessary information that should be reported in academic papers to demonstrate meaningful advances in the field.
Finally, we argue that computing truly optimal solutions for \mapfr is currently infeasible with existing technology.

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Submission Number: 35