Energy-Constrained Hybrid Repair for Lifelong Multi-Agent Path Finding in Smart Warehouses

Smart warehouses rely on fleets of autonomous mobile robots that must continually assign tasks, plan paths, avoid collisions, and maintain battery energy. Existing lifelong multi-agent path finding studies often emphasize travel cost or makespan, while practical deployments also involve charging, payload-dependent energy use, turning and waiting costs, and congestion. This paper presents an energy-constrained hybrid repair framework for lifelong multi-agent path finding in warehouses. The method