most citedMulti-robot Path Planning and Scheduling via Model Predictive Optimal Transport (MPC-OT)

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cs.LG2026

Optimal and Scalable MAPF via Multi-Marginal Optimal Transport and Schrödinger Bridges

Usman A. Khan, Joseph W. Durham

We consider anonymous multi-agent path finding (MAPF) where a set of robots is tasked to travel to a set of targets on a finite, connected graph. We show that MAPF can be cast as a…