Towards Holistic Approach to Robust Execution of MAPF Plans

David Zahrádka, Denisa Muzíková, Miroslav Kulich, Jirí Svancara, Roman Barták

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.