Advancing MAPF Toward the Real World: A Scalable Multi-Agent Realistic Testbed (SMART)

ArXi:2503.04798v3 Announce Type: replace-cross We present Scalable Multi-Agent Realistic Testbed (SMART), a realistic and efficient software tool for evaluating Multi-Agent Path Finding (MAPF) algorithms. MAPF focuses on planning collision-free paths for a group of robots. While state-of-the-art MAPF planners can plan paths for hundreds of robots in seconds, they often rely on simplified robot models, making their real-world performance unclear. Researchers typically lack access to hundreds of physical robots in laboratory settings to evaluate the algorithms.