Preprint Open access
GuardPIBT: Counterfactually Gated Neural Guidance for Ultra-Large-Scale 3D Multi-Agent Path Finding
Large-scale 3D multi-agent path finding becomes increasingly difficult under dense traffic. Priority Inheritance with Backtracking (PIBT) scales well, but its one-step goal-directed ordering may become insufficient under dense interactions and large-scale congestion. We present GuardPIBT, which augments rather than rep …