Enhancing PIBT via Multi-Action Operations

• URL: http://arxiv.org/abs/2511.09193v2
• Date: Fri, 14 Nov 2025 01:29:37 GMT
• Title: Enhancing PIBT via Multi-Action Operations
• Abstract summary: We present an enhanced version of PIBT that addresses the limitation by incorporating multi-action operations.<n>We demonstrate how our method achieves state-of-the-art performance in the online LMAPF-T setting.
• Score: 4.68905836571978
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: PIBT is a rule-based Multi-Agent Path Finding (MAPF) solver, widely used as a low-level planner or action sampler in many state-of-the-art approaches. Its primary advantage lies in its exceptional speed, enabling action selection for thousands of agents within milliseconds by considering only the immediate next timestep. However, this short-horizon design leads to poor performance in scenarios where agents have orientation and must perform time-consuming rotation actions. In this work, we present an enhanced version of PIBT that addresses this limitation by incorporating multi-action operations. We detail the modifications introduced to improve PIBT's performance while preserving its hallmark efficiency. Furthermore, we demonstrate how our method, when combined with graph-guidance technique and large neighborhood search optimization, achieves state-of-the-art performance in the online LMAPF-T setting.

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