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MAPF Fleet

Multi-agent path-finding for a multi-floor construction site. Robots avoid collisions, yield to one another, and queue for elevators.

Controls

Site

Floors6

Elevators2

Elevator capacity2 robots

Floor width24 m

Floor depth18 m

Fleet & run

Robots14

Adjust live — robots are added or removed without restarting the run.

Speed6×

Planner

Prioritized is fast; CBS searches for an optimal conflict-free plan (heavier, falls back when a floor is too tangled).

Overlays

View

Keys: Space play · S step · P paths · F focus · 1/2/3 view · ↑/↓ floor · [ / ] speed · U panels · Esc deselect

Floor map

Legend

To pickup

Carrying

Yielding

Waiting for lift

Riding

At station

Charging

Pickup

Dropoff

Lift board

Lift exit

Charger

Fleet: forklift · cart · lifter · scout

Live metrics

Throughput

0/min

Delivered

Moving

Waiting

Elevator load

Avg wait

Avg battery

74%

Deadlocks cleared

Fleet optimizer

Recommended fleet

14robots

model measured

Peak ≈ 8 deliveries/min, limited by elevator capacity. Beyond the recommendation, extra robots mostly add congestion.

Trends

Throughput0/min

Congestion0%

Elevator load0%

Planner benchmark

Runs 350 ticks per planner on this exact building, fleet, and seed.