{"ID":3004773,"CreatedAt":"2026-06-03T03:09:48.883664427Z","UpdatedAt":"2026-06-05T11:43:53.432517148Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2606.03735","arxiv_id":"2606.03735","title":"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","short_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 me...","url_abs":"https://arxiv.org/abs/2606.03735","url_pdf":"https://arxiv.org/pdf/2606.03735v1","authors":"[\"Gabriel Fejziaj\",\"Salama Hassona\",\"Wieslaw Marszalek\"]","published":"2026-06-02T14:51:40Z","proceeding":"nlin.CD","tasks":"[\"nlin.CD\",\"cs.MA\",\"cs.RO\"]","methods":"[]","has_code":false}