A Lightweight Traffic Map for Efficient Anytime LaCAM*

• URL: http://arxiv.org/abs/2603.07891v1
• Date: Mon, 09 Mar 2026 02:11:07 GMT
• Title: A Lightweight Traffic Map for Efficient Anytime LaCAM*
• Abstract summary: Multi-Agent Path Finding (MAPF) aims to compute collision-free paths for multiple agents and has a wide range of practical applications.<n>LaCAM*, an anytime configuration-based solver, currently represents the state of the art.<n>We propose a new approach that leverages LaCAM*'s ability to construct a dynamic, lightweight traffic map during its search.
• Score: 13.871792180626045
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Multi-Agent Path Finding (MAPF) aims to compute collision-free paths for multiple agents and has a wide range of practical applications. LaCAM*, an anytime configuration-based solver, currently represents the state of the art. Recent work has explored the use of guidance paths to steer LaCAM* toward configurations that avoid traffic congestion, thereby improving solution quality. However, existing approaches rely on Frank-Wolfe-style optimization that repeatedly invokes single-agent search before executing LaCAM*, resulting in substantial computational overhead for large-scale problems. Moreover, the guidance path is static and primarily beneficial for finding the first solution in LaCAM*. To address these limitations, we propose a new approach that leverages LaCAM*'s ability to construct a dynamic, lightweight traffic map during its search. Experimental results demonstrate that our method achieves higher solution quality than state-of-the-art guidance-path approaches across two MAPF variants.

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