The paper introduces a scalable heterogeneous Graph Neural Network framework that automatically generates and evaluates shared roadmaps for multi‑agent path planning in continuous environments. By representing waypoints, agent locations, and task locations as distinct nodes, the GNN learns from expert solver trajectories to identify critical points and prune redundant connections, producing a compact, coordination‑aware roadmap. Experiments show the approach can reduce planning effort, achieving at least a 40% reduction in runtime and graph size for dense roadmaps.
Multi-agent path planning (MAPP) in continuous environments often relies on roadmaps to balance safety and search efficiency. However, traditional roadmap generation methods, such as lattice grids or...
arXiv:2508. 00429v5 Announce Type: replace-cross Abstract: Graph Neural Networks (GNNs) have achieved remarkable success in graph-based learning by propagating information among neighbor nodes via predefined aggregation mechanisms.
arXiv:2609.39777v1 Announce Type: new Abstract: LLM-based multi-agent systems coordinate specialized reasoning through aggregation, interaction, and adaptive control, yet their potential for graph le...
The paper presents a graph-based framework for large-scale railway network management, combining a hierarchical Bayesian model with a Gaussian Process on a graph kernel to infer spatially correlated maintenance environments from Swiss Federal Railways data. It introduces a topology-aware Multi-Agent Reinforcement Learning system that uses graph neural networks and Transformers to optimize network-level policies. The approach demonstrates scalability via zero-shot transfer learning, enabling agents trained on small network segments to perform effectively on unseen large networks, outperforming heuristics and standard MARL baselines while reducing training time.
MAPF-World introduces an autoregressive action world model for multi‑agent path finding that predicts short‑horizon local observations and neighboring agents’ action intentions, enabling decisions beyond immediate local views. The model incorporates a spatio‑agent positional encoding within Transformer architectures to enhance spatial awareness and agent semantics, fostering coordinated behaviors. Experiments on diverse maps, including a new automated map generator based on real‑world urban layouts, show that MAPF‑World outperforms existing learned solvers, achieving strong performance, robust zero‑shot generalization, and high success rates even at high agent densities.
arXiv:2607. 21488v1 Announce Type: cross Abstract: Coordinating autonomous vehicles at unsignalized intersections remains a critical challenge for multi-agent reinforcement learning (MARL) systems, which typically struggle with combinatorial action spaces, reliance on privileged information, or rigid agent designs.
arXiv:2608. 05588v1 Announce Type: cross Abstract: Lifelong Multi-Agent Path Finding (LMAPF) requires repeatedly planning collision-free paths for agents that continuously receive new goals upon reaching their current ones.
The paper examines when multi‑agent collaboration is beneficial versus single‑agent approaches. It finds that collaboration yields systematic advantages mainly in long‑horizon tasks with sparse dependencies, while single agents perform better in tightly coupled, sequential workflows. The authors introduce SAIGE, a lightweight multi‑agent mechanism that models collaboration as a dynamically evolving graph, and show that it balances context efficiency and task performance without always improving outcomes as more agents are added.
arXiv:2606. 14956v1 Announce Type: new Abstract: Autonomous driving systems rely on precise trajectory prediction to plan safe and efficient movement.
The paper presents a graph-based framework for large-scale railway network management that combines a hierarchical Bayesian model with a Gaussian Process on a graph kernel to model spatially correlated maintenance environments, and a topology-aware Multi-Agent Reinforcement Learning system using graph neural networks and Transformers to optimize network-level policies. It demonstrates scalability by training agents on small network segments and deploying them zero-shot on larger, unseen networks, achieving superior performance over heuristics and standard MARL baselines while reducing training time. The approach addresses the computational challenges of centralized methods and the coordination gaps of decentralized methods in complex, long-horizon infrastructure asset management.
The paper examines when multi‑agent collaboration is truly beneficial as large language models grow more capable. It finds that multi‑agent systems yield systematic advantages mainly for long‑horizon tasks with sparse dependencies, while single‑agent approaches excel in tightly coupled, sequential workflows. The authors introduce SAIGE, a lightweight, graph‑based collaboration framework that balances context efficiency and performance, demonstrating that adding more agents or deeper recursion does not always improve outcomes.
The paper proposes a method that allows agents in multi‑agent motion planning to compute with multiple prioritizations simultaneously, avoiding reliance on domain‑specific heuristics or costly iterative searches. This general approach is applied to receding‑horizon motion planning with system dynamics, and numerical experiments show near‑optimal prioritization and performance gains over state‑of‑the‑art methods with only a slight increase in computation time. Real‑time feasibility is demonstrated on a road network with ten vehicles in a Cyber‑Physical Mobility Lab.