most citedTactical Game-theoretic Decision-making with Homotopy Class Constraints

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cs.RO2025

FICO: Finite-Horizon Closed-Loop Factorization for Unified Multi-Agent Path Finding

Jiarui Li, Alessandro Zanardi, Federico Pecora +2

Multi-Agent Path Finding is a fundamental problem in robotics and AI, yet most existing formulations treat planning and execution separately and address variants of the problem in…

cs.RO2025

Multi-Agent Path Finding via Finite-Horizon Hierarchical Factorization

Jiarui Li, Alessandro Zanardi, Gioele Zardini

We present a novel algorithm for large-scale Multi-Agent Path Finding (MAPF) that enables fast, scalable planning in dynamic environments such as automated warehouses. Our approach…