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ITA-LaCAM: A Complete and Scalable TAPF Solver via Assignment-Aware Configuration-Space Search

arXiv · AI, language, vision and robotics · article · Sep 13, 2026 · UTC

Combined Target Assignment and Path Finding (TAPF) requires assigning targets for agents while simultaneously planning collision-free paths. We present ITA-LaCAM, a complete and scalable TAPF solver inspired by LaCAM and ITA-CBS. In ITA-LaCAM, each joint-configuration node carries an agent-to-target matching. When a successor is generated, ITA-LaCAM incrementally repairs the matching for the agents that moved and uses the targets to guide PIBT successor generation. This design enables adaptive reassignment without explicitly enumerating the combinatorial assignment space, while preserving LaCA

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