Paper and citation

Advancing MAPF towards the Real World: A Scalable Multi‑Agent Realistic Testbed (SMART)

Summary

The SMART testbed provides a realistic environment for evaluating Multi‑Agent Path Finding (MAPF) algorithms. It couples physics‑engine based simulation to better model kinodynamics and execution uncertainty, uses an Action Dependency Graph for execution monitoring, and focuses on scaling to large numbers of agents.

Access the full paper on arXiv:

• https://arxiv.org/abs/2503.04798

• PDF: https://arxiv.org/pdf/2503.04798

Cite as

Yan, J., Li, Z., Kang, W., Zheng, K., Zhang, Y., Chen, Z., Zhang, Y., Harabor, D., Smith, S. F., & Li, J. (2025). Advancing MAPF towards the Real World: A Scalable Multi‑Agent Realistic Testbed (SMART). arXiv:2503.04798.