CREST: Constraint-Release Execution for Multi-Robot Warehouse Shelf Rearrangement

arXiv:2603.28803v1 Announce Type: cross Abstract: Double-Deck Multi-Agent Pickup and Delivery (DD-MAPD) models the multi-robot shelf rearrangement problem in automated warehouses. MAPF-DECOMP is a recent framework that first computes collision-free shelf trajectories with a MAPF solver and then assigns agents to execute them. While efficient, it enforces strict trajectory dependencies, often leading to poor execution quality due to idle agents and unnecessary shelf switching. We introduce CREST,