计算机工程与应用2026，Vol.62Issue(11)：1-16,16.DOI:10.3778/j.issn.1002-8331.2509-0404
鲁棒性多智能体路径规划:近十年文献综述
Robust Multi-Agent Path Finding:Literature Review in Past Decade
摘要
Abstract
Benefiting from the widespread application of multi-robot collaboration,multi-agent path finding(MAPF)has become a key research focus as a core technology for multi-agent cooperative navigation.The goal of MAPF is to navi-gate multiple agents from their respective starting positions to target positions on a two-dimensional map without con-flicts.However,when the agents actually execute their respective paths,due to environmental uncertainties,they will be disturbed by internal and external factors,such as dynamic obstacles,communication delays,control errors,power limita-tions,and kinematic constraints.These disturbances will cause delays and desynchronization among agents,leading to new conflicts or even deadlocks,thereby hindering the practical application of MAPF theory.To address this issue,researchers have proposed robust MAPF(RMAPF)algorithms to ensure conflict-free and deadlock-free path execution despite temporal uncertainties during the execution phase.This paper systematically reviews RMAPF algorithms developed over the past decade,and for the first time,categorizes existing algorithms into two types:robust planning and robust execution,based on their approach to handling delays.It conducts an in-depth comparative analysis across multiple dimensions,inc-luding principles,advantages,disadvantages,scalability,and applicable scenarios.The paper aims to fill the gap in systematic reviews in the field of RMAPF,analyze the core bottlenecks that exist when applying the MAPF theory in practical pro-cesses,and offers insights to advance the deployment of MAPF algorithms in practical applications.关键词
多智能体路径规划(MAPF)/干扰/延时/鲁棒规划/鲁棒执行/鲁棒性多智能体路径规划(RMAPF)Key words
multi-agent path finding(MAPF)/disturbances/delays/robust planning/robust execution/robust MAPF(RMAPF)分类
信息技术与安全科学引用本文复制引用
吴梦蝶,闫文耀,苗水清..鲁棒性多智能体路径规划:近十年文献综述[J].计算机工程与应用,2026,62(11):1-16,16.基金项目
陕西省教育厅专项科研计划项目(23JK0739). （23JK0739）
