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arXiv · 2511.09193

Enhancing PIBT via Multi-Action Operations

Egor Yukhnevich·Anton Andreychuk
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Abstract

PIBT is a rule-based Multi-Agent Path Finding (MAPF) solver, widely used as a low-level planner or action sampler in many state-of-the-art approaches. Its primary advantage lies in its exceptional speed, enabling action selection for thousands of agents within milliseconds by considering only the immediate next timestep. However, this short-horizon design leads to poor performance in scenarios where agents have orientation and must perform time-consuming rotation actions. In this work, we present an enhanced version of PIBT that addresses this limitation by incorporating multi-action operations. We detail the modifications introduced to improve PIBT's performance while preserving its hallmark efficiency. Furthermore, we demonstrate how our method, when combined with graph-guidance technique and large neighborhood search optimization, achieves state-of-the-art performance in the online LMAPF-T setting.

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Egor Yukhnevich, Anton Andreychuk. 2025-11-12. Enhancing PIBT via Multi-Action Operations. https://arxiv.org/abs/2511.09193

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