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arXiv · 2605.11503

Distance-Constrained Unlabeled Multi-Agent Pathfinding

Takahiro Suzuki·Yuma Tamura·Keisuke Okumura
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Abstract

We study a graph pathfinding problem Distance-$r$ Independent Unlabeled Multi-Agent Pathfinding, finding a set of collision-free paths between two sets where agents must stay at pairwise distance at least $r+1$ at all times. This additional constraint, generalizing collision modeling for classical MAPF, targets aspects of real-world multi-agent coordination. This additional distance constraint makes feasibility (i.e., whether a solution exists) PSPACE-complete, in contrast to standard (unlabeled) MAPF, where it can be decided in polynomial time. We address the challenge via two complementary approaches: (i) reduction-based optimal algorithms with a feasibility-preserving compression procedure, and (ii) a configuration generator-based search. Despite the hardness, empirical results show that our algorithm can handle hundreds of agents in a practical timeframe.

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Takahiro Suzuki, Yuma Tamura, Keisuke Okumura. 2026-05-12. Distance-Constrained Unlabeled Multi-Agent Pathfinding. https://arxiv.org/abs/2605.11503

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