Abstract
We investigate the use of Artificial Potential Fields (APFs) for improving online multi-agent pathfinding in lifelong settings, where agents are continuously assigned new goals upon completing previous tasks. We present APF-enhanced variants of several online coordination methods, including prioritized planning, large-neighborhood search, and priority-inheritance–based schemes. Our results show that integrating APFs into these algorithms substantially increases overall system throughput, achieving up to a 7-fold improvement in task completion rate in densely populated environments.
| Original language | English |
|---|---|
| Title of host publication | Proceedings International Conference on Automated Planning and Scheduling, ICAPS |
| Editors | Amanda Coles, Wheeler Ruml, Sandhya Saisubramanian |
| Publisher | Association for the Advancement of Artificial Intelligence |
| Pages | 409-414 |
| Number of pages | 6 |
| Edition | 1 |
| ISBN (Print) | 9781577359104 |
| DOIs | |
| State | Published - 2026 |
| Externally published | Yes |
| Event | 36th International Conference on Automated Planning and Scheduling, ICAPS 2026 - Dublin, Ireland Duration: 27 Jun 2026 → 2 Jul 2026 |
Publication series
| Name | Proceedings International Conference on Automated Planning and Scheduling, ICAPS |
|---|---|
| Number | 1 |
| Volume | 36 |
| ISSN (Print) | 2334-0835 |
| ISSN (Electronic) | 2334-0843 |
Conference
| Conference | 36th International Conference on Automated Planning and Scheduling, ICAPS 2026 |
|---|---|
| Country/Territory | Ireland |
| City | Dublin |
| Period | 27/06/26 → 2/07/26 |
Bibliographical note
Publisher Copyright:© 2026, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.
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