The Cost of Executability: Temporal Margins for Continuous-Time Multi-Agent Path Finding under Closed-Loop Control

arXiv:2610.20118 · eess.SY, cs.SY · Submitted 2026-10-14 · Read on arXiv

eess.SY, cs.SY

Submitted: 2026-10-14

Updated: 2026-10-14

Code: https://github.com/Chalmers-ControlAutomation-Mechatronics/TrajPlan-ScheMPC

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Closed-Loop Control — 1× in this paper · explained in 3 episodes

Sources

• Optimal Multi-Agent Path Finding in Continuous Time
• AOC-CBS: Anytime-Optimal Continuous-time Conflict-Based Search for Generalised Multi-Agent Path Finding
• Analyzing Planner Design Trade-offs for MAPF under ADG-based Realistic Execution
• Streamlining the Action Dependency Graph Framework: Two Key Enhancements
• A Feedback Scheme to Reorder a Multi-Agent Execution Schedule by Persistently Optimizing a Switchable Action Dependency Graph

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