Publication

X. Wu and Z. Ren. Multi-Agent Combinatorial Path Finding for Tractor-Trailers in Occupancy Grids. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 14124-14131, 2025.

Abstract: This paper introduces Multi-Agent Combinatorial Path Finding for Tractor-Trailers, a variant where agents must visit intermediate targets and their body length grows as trailers are attached. This creates a larger single-agent state space, self-collision constraints, and more difficult inter-agent collision resolution. The paper presents CBSS-TT, which combines new inter-agent conflict resolution techniques with an optimal tractor-trailer single-agent planner. Experiments show fewer iterations and lower-cost solutions than the tested baselines.

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