It Takes Two to Tango: A Holistic Simulator for Joint Order Scheduling and Multi-Agent Path Finding in Robotic Warehouses

• URL: http://arxiv.org/abs/2602.13999v1
• Date: Sun, 15 Feb 2026 05:51:58 GMT
• Title: It Takes Two to Tango: A Holistic Simulator for Joint Order Scheduling and Multi-Agent Path Finding in Robotic Warehouses
• Abstract summary: WareRover is a holistic simulation platform that enforces dynamic coupling between OS and MAPF.<n>Unlike standard benchmarks, WareRover integrates order streams, physics-aware motion constraints, and non-nominal recovery mechanisms into a single evaluation loop.
• Score: 18.101514832695067
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: The prevailing paradigm in Robotic Mobile Fulfillment Systems (RMFS) typically treats order scheduling and multi-agent pathfinding as isolated sub-problems. We argue that this decoupling is a fundamental bottleneck, masking the critical dependencies between high-level dispatching and low-level congestion. Existing simulators fail to bridge this gap, often abstracting away heterogeneous kinematics and stochastic execution failures. We propose WareRover, a holistic simulation platform that enforces a tight coupling between OS and MAPF via a unified, closed-loop optimization interface. Unlike standard benchmarks, WareRover integrates dynamic order streams, physics-aware motion constraints, and non-nominal recovery mechanisms into a single evaluation loop. Experiments reveal that SOTA algorithms often falter under these realistic coupled constraints, demonstrating that WareRover provides a necessary and challenging testbed for robust, next-generation warehouse coordination. The project and video is available at https://hhh-x.github.io/WareRover/.

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