On dynamic multi-agent pathfinding methods: review, simulations and modifications

Abstract:This paper presents a systematic study of pathfinding algorithms in the context of Dynamic Multi-Agent Pathfinding (D-MAPF), a setting that combines dynamic obstacles, partial observability, and inter-agent conflicts. We evaluate six representative algorithms: Dijkstra, D* Lite, Space-Time A*, WHCA*, M*, and a novel method denoted as A** within a unified simulation framework. The proposed A** algorithm introduces a template-based approach that decouples offline geometric path generation from online temporal adaptation. By precomputing multiple diverse candidate paths and dynamically reconnecting to them using space-time planning, A** improves solution quality in environments with frequent changes and limited sensing

Chaotic Dynamics (nlin.CD); Multiagent Systems (cs.MA); Robotics (cs.RO)

arXiv:2606.03735 [nlin.CD]

(or arXiv:2606.03735v1 [nlin.CD] for this version)

https://doi.org/10.48550/arXiv.2606.03735 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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