Jingtian Yan

Jingtian Yan

Ph.D. Student in Robotics at Carnegie Mellon University

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

Published in Under Review, 2025

Note: Manuscript is currently under review.

Overview

This work presents WinkTPG (Windowed kinodynamic Temporal Plan Graph Planning), a novel execution framework for Multi-Agent Path Finding (MAPF) that addresses the gap between theoretical MAPF algorithms and real-world deployment requirements. While existing MAPF algorithms rely on simplified kinodynamic models, WinkTPG enables agents to directly follow generated MAPF plans by incorporating temporal reasoning and speed optimization.

WinkTPG Architecture
Figure 1: WinkTPG main idea

Links:

BibTeX

@misc{yan2025winktpg,
  title={WinkTPG: An Execution Framework for Multi-Agent Path Finding Using Temporal Reasoning},
  author={Yan, Jingtian and Smith, Stephen F. and Li, Jiaoyang},
  year={2025},
  eprint={2508.01495},
  archivePrefix={arXiv},
  primaryClass={cs.AI},
  note={Under Review}
}

Recommended citation: Jingtian Yan, Stephen F. Smith, and Jiaoyang Li. Under Review. 2025.
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