Analyzing Planner Design Trade-offs for MAPF under ADG-based Realistic Execution

ArXi:2512.09736v2 Announce Type: replace Multi-Agent Path Finding (MAPF) algorithms are increasingly deployed in industrial warehouses and automated manufacturing facilities, where robots must operate reliably under real-world physical constraints. However, existing MAPF evaluation frameworks typically rely on simplified robot models, leaving a substantial gap between algorithmic benchmarks and practical performance. Recent frameworks such as SMART combine kinodynamic modeling with execution based on the Action Dependency Graph (ADG), enabling realistic, large-scale MAPF evaluation.