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Fixed-Haven Reservation for Online Multi-Agent Pickup and Delivery in Dense Warehouses

arXiv · AI, language, vision and robotics · article · Aug 27, 2026 · UTC

Dense warehouses often contain single-lane aisles, dead ends, and tree-like guidepaths that leave little room for idle agents to wait without blocking others. Existing Multi-Agent Pickup and Delivery (MAPD) guarantees for completing all finitely released tasks typically rely on extra waiting endpoints that planned paths can avoid, or on biconnected topology; these assumptions may fail in such layouts. We study fixed-Haven reservation for online MAPD, where pickup-delivery tasks are released over time. Each agent owns a fixed Safe Haven (Haven for short), usually its start cell, that only the o

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