WinkTPG: An Execution Framework for Multi-Agent Path Finding Using Temporal Reasoning

arXiv:2508.01495v2 Announce Type: replace Abstract: Planning collision-free paths for a large group of agents is a challenging problem in many real-world applications. While recent advances in Multi-Agent Path Finding (MAPF) have shown promising progress, standard MAPF planners continue to rely on simplified kinodynamic models, preventing agents from directly following the generated MAPF plan. To bridge this gap, we propose kinodynamic Temporal Plan Graph planning (kTPG), a multi-agent speed opt