Certificate-Driven Closed-Loop Multi-Agent Path Finding with Inheritable Factorization

Description

Multi-agent coordination in automated warehouses and logistics is commonly modeled as the Multi-Agent Path Finding (MAPF) problem. Closed-loop MAPF algorithms improve scalability by planning only the next movement and replanning online, but this finite-horizon viewpoint can be shortsighted and makes it difficult to preserve global guarantees and exploit compositional structure. This issue is especially visible in Anytime Closed-Loop Conflict-Based Search (ACCBS), which applies Conflict-Based Sea

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