Enhancing Lifelong Multi-Agent Path-finding by Using Artificial Potential Fields

Arseniy Pertzovsky, Roni Stern, Ariel Felner +1

We explore the use of Artificial Potential Fields (APFs) to solve Multi-Agent Path Finding (MAPF) and Lifelong MAPF (LMAPF) problems. In MAPF, a team of agents must move to their g…