ITA-LaCAM: A Complete and Scalable TAPF Solver via Assignment-Aware Configuration-Space Search

Abstract:Combined Target Assignment and Path Finding (TAPF) requires assigning targets for agents while simultaneously planning collision-free paths. We present ITA-LaCAM, a complete and scalable TAPF solver inspired by LaCAM and ITA-CBS. In ITA-LaCAM, each joint-configuration node carries an agent-to-target matching. When a successor is generated, ITA-LaCAM incrementally repairs the matching for the agents that moved and uses the targets to guide PIBT successor generation. This design enables adaptive reassignment without explicitly enumerating the combinatorial assignment space, while preserving LaCAM's completeness and scalability. Across 9,760 benchmark instances on eight maps with 5--200 agents, ITA-LaCAM solved 100% of the instances, compared with 95.6% for IR-TAPF configured with DBS-Hungarian. ITA-LaCAM found an initial solution faster in 84.0% of the comparisons and achieved a lower sum of costs in 65.0% of the instances solved by both methods.

Robotics (cs.RO)

arXiv:2609.14208 [cs.RO]

(or arXiv:2609.14208v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.14208 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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