WinkTPG: Temporal Reasoning for Robust MAPF Execution
WinkTPG is an execution framework for Multi-Agent Path Finding (MAPF) that refines discrete MAPF plans into kinodynamically feasible speed profiles while reasoning about temporal constraints and execution uncertainty.
Highlights
- Published in IEEE Transactions on Automation Science and Engineering (T-ASE), 23, 9162-9175, 2026
- Will present at IROS 2026
- Generates speed profiles for up to 1,000 agents within 1 second
- Improves solution quality by up to 51.7% over existing MAPF execution methods
- Validated in high-fidelity physics-based simulation and on real-world robots
Links
Collaborators
Jingtian Yan, Stephen F. Smith, Jiaoyang Li