{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T22:21:54Z","timestamp":1777674114214,"version":"3.51.4"},"reference-count":0,"publisher":"Association for the Advancement of Artificial Intelligence (AAAI)","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["SOCS"],"abstract":"<jats:p>The vast majority of Multi-Agent Path Finding (MAPF) methods with completeness guarantees require planning full-horizon paths. However, planning full-horizon paths can take too long and be impractical in real-world applications. Instead, real-time planning and execution, which only allows the planner a finite amount of time before executing and replanning, is more practical for real-world multi-agent systems. Several methods utilize real-time planning schemes but none are provably complete, which leads to livelock or deadlock. Our main contribution is Real-Time LaCAM, the first Real-Time MAPF method with provable completeness guarantees. We do this by leveraging LaCAM in an incremental fashion. Our results show how we can iteratively plan for congested environments with a cutoff time of milliseconds while still maintaining the same success rate as full-horizon LaCAM. We also show how it can be used with a single-step learned MAPF policy.<\/jats:p>","DOI":"10.1609\/socs.v18i1.35993","type":"journal-article","created":{"date-parts":[[2025,7,21]],"date-time":"2025-07-21T06:05:52Z","timestamp":1753077952000},"page":"196-200","source":"Crossref","is-referenced-by-count":1,"title":["Real-Time LaCAM for Real-Time MAPF"],"prefix":"10.1609","volume":"18","author":[{"given":"Runzhe","family":"Liang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rishi","family":"Veerapaneni","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Daniel","family":"Harabor","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiaoyang","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Maxim","family":"Likhachev","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"9382","published-online":{"date-parts":[[2025,7,19]]},"container-title":["Proceedings of the International Symposium on Combinatorial Search"],"original-title":[],"link":[{"URL":"https:\/\/ojs.aaai.org\/index.php\/SOCS\/article\/download\/35993\/38148","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/ojs.aaai.org\/index.php\/SOCS\/article\/download\/35993\/38148","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,21]],"date-time":"2025-07-21T06:05:53Z","timestamp":1753077953000},"score":1,"resource":{"primary":{"URL":"https:\/\/ojs.aaai.org\/index.php\/SOCS\/article\/view\/35993"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,7,19]]},"references-count":0,"URL":"https:\/\/doi.org\/10.1609\/socs.v18i1.35993","relation":{},"ISSN":["2832-9163","2832-9171"],"issn-type":[{"value":"2832-9163","type":"electronic"},{"value":"2832-9171","type":"print"}],"subject":[],"published":{"date-parts":[[2025,7,19]]}}}