LLLG: Lifelong LaCAM with Local Guidance for Lifelong MAPF

LLLG is the lifelong version of LG-LaCAM (AAAI-26), bringing local guidance to a receding-horizon planning framework for Lifelong Multi-Agent Pathfinding (LMAPF). Local guidance supplies each agent with informative spatiotemporal cues that help mitigate congestion, reduce waiting, and improve short-horizon coordination in dense multi-agent environments. While local guidance has recently shown strong empirical benefits in one-shot MAPF, this work lifts the same idea to the lifelong setting, where agents continuously receive new tasks and must replan under strict real-time constraints. Our method scales effectively and maintains strong performance even in compact, dense environments with many tightly packed agents, yielding higher throughput and surpassing the prior state-of-the-art, thereby pushing the frontier for real-time lifelong MAPF.

The paper will appear at SoCS-26.

LaCAM — The baseline configuration-based LMAPF solver.

LLLG — Lifelong LaCAM with Local Guidance for LMAPF.

Visualization of 400 agents navigating a multi-room environment.
LLLG visibly alleviates local congestion and accelerates overall throughput compared to lifelong LaCAM.

Citation

If you find this work to be useful in your research, please consider citing:

@article{arita2026local,
  title={Lifelong LaCAM with Local Guidance for Lifelong MAPF},
  author={Arita, Tomoki and Okumura, Keisuke},
  journal={arXiv preprint arxiv-2605.16855},
  year={2026}
}

Building

All you need is CMake (≥v3.16). The code is written in C++(17).

First, clone this repo with submodules.

git clone --recursive {this repo}

Then, build the project.

cmake -B build && make -C build -j4

Usage

build/main -i assets/random-32-32-10-random-1.scen -m assets/random-32-32-10.map -N 400 -v 2 --lg --lg_window 20 --lacam_horizon 10 --lifelong -S 10

The result will be saved in build/result.txt.

You can find details of all parameters with:

build/main --help

Visualizer

This repository is compatible with allegorywrite@mapf-visualizer. For example,

mapf-visualizer assets/random-32-32-10.map build/result.txt --lifelong

Notes

install pre-commit for formatting

pre-commit install

simple test

ctest --test-dir ./build