Pivot-and-Station Multi-Agent Path Finding: Solvability, Complexity, and Algorithms
Automated high-density storage systems (warehouses, robotic parking, plant logistics, etc.) require fleets of agents to move through scarce task-critical resources and then park without obstructing future operations. We introduce Pivot-and-Station Multi-Agent Path Finding (PS-MAPF), a MAPF variant in which a subset of tasked agents must each visit one of a set of interchangeable pivots (e.g., workstations) before the entire fleet terminates at anonymous stations, one agent per station. We characterize solvability completely: every instance on a 2-edge-connected graph is solvable, and, on arbitrary connected graphs, a structural effective-distance measure relative to the number of unoccupi...
| Authors | Andrea Di Nezza, Mihir Patel, Fabio Fagnani et al. |
|---|---|
| Primary category | cs.AI |
| Published | 25 August 2026 |
| Last updated at source | 25 August 2026 |
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