Ron Zvi Stern

We explore the use of Artificial Potential Fields (APFs) to solve Lifelong Multi-Agent Path Finding (LMAPF) problems. In LMAPF, a team of agents must move to their goal locations without collisions, and new goals are generated upon arrival. We propose methods for incorporating APFs in a range of LMAPF algorithms, including Prioritized Planning and MAPF-LNS2. Experimental results show that using APF yields up to a 7-fold increase in overall system throughput for LMAPF.