Analyzing Planner Design Trade-offs for MAPF under Realistic Simulation

Note: Accepted to the International Conference on Automated Planning and Scheduling (ICAPS 2026).

Overview

This work analyzes how MAPF planner design choices affect execution performance under realistic simulation. Building on SMART-style large-scale realistic evaluation, the paper studies how solution optimality, kinodynamic model accuracy, and the trade-off between model accuracy and plan optimality influence real-world execution behavior.

The study highlights that strong performance on simplified MAPF benchmarks does not always translate to robust execution under physical constraints, and it points toward planner design choices that better support practical multi-robot deployment.

Links:

• Paper (arXiv)
• Accepted Papers

BibTeX

@inproceedings{yan2026tradeoffs,
  title={Analyzing Planner Design Trade-offs for MAPF under Realistic Simulation},
  author={Yan, Jingtian and Li, Zhifei and Kang, William and Smith, Stephen F. and Li, Jiaoyang},
  booktitle={International Conference on Automated Planning and Scheduling},
  year={2026}
}

Recommended citation: Jingtian Yan, Zhifei Li, William Kang, Stephen F. Smith, and Jiaoyang Li. International Conference on Automated Planning and Scheduling. 2026.
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