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This is a Experimental Study study.

September 23, 2025Open Access

Budget Allocation Policies for Real-Time Multi-Agent Path Finding

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This analysis explores planning budget policies in real-time MAPF setups, indicating improved efficiency with agent-specific allocations.

Allocating planning budgets based on individual agent needs improves problem-solving efficiency in MAPF.
The research shows that a shared budget model is ineffective, especially in over-constrained situations.
By distributing the planning budget among agents, solutions achieve better outcomes with reduced makespan.
Prioritized Planning (PrP) and MAPF-LNS2 serve as standard algorithms tested in various budget allocation policies.

Beck et al. (2025) studied this question.

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