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Paper Abstract and Keywords
Presentation 2026-03-02 11:20
Trade-off Analysis Between Specific Map Optimization and Generalization Performance in Graph-based PIBT
Hayaki Horinouchi, Takayuki Ito, Shiyao Ding (Kyoto Univ.) Consen2025-29
Abstract (in Japanese) (See Japanese page) 
(in English) Addressing large-scale Multi-Agent Pickup and Delivery (MAPD) in realistic graph environments requires balancing throughput with strict physical constraints. We propose GAP-PIBT, extending the decentralized PIBT algorithm to the continuous-time domain. To handle the sensitivity of heuristic parameters, we introduce an automated optimization framework using Evolution Strategy (ES). Our analysis reveals a distinct classification of parameters: ”specialized” parameters, whichare density-dependent (e.g., safety margins), and ”generalized” parameters, which remain stable across environments. Based on this, we developed a three-stage optimization method that sequentially stabilizes collision avoidance, learns generalized parameters, and fine-tunes density-specific weights. Results demonstrate that this approach significantly accelerates learning convergence and outperforms conventional simultaneous optimization, achieving higher throughput and stable collision avoidance in complex, high-density environments.
Keyword (in Japanese) (See Japanese page) 
(in English) Multi-Agent / MAPD / PIBT / Evolution Strategy (ES) / / / /  
Reference Info. IEICE Tech. Rep., vol. 125, no. 377, Consen2025-29, pp. 14-19, March 2026.
Paper # Consen2025-29 
Date of Issue 2026-02-23 (Consen) 
ISSN Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF Consen2025-29

Conference Information
Committee Consen  
Conference Date 2026-03-02 - 2026-03-03 
Place (in Japanese) (See Japanese page) 
Place (in English) Research Institute of Electrical Communication, Tohoku University 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Co-creative Design and Consensus Design, Disaster Prevention, Multiagent System, etc. 
Paper Information
Registration To Consen 
Conference Code 2026-03-Consen 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Trade-off Analysis Between Specific Map Optimization and Generalization Performance in Graph-based PIBT 
Sub Title (in English)  
Keyword(1) Multi-Agent  
Keyword(2) MAPD  
Keyword(3) PIBT  
Keyword(4) Evolution Strategy (ES)  
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1st Author's Name Hayaki Horinouchi  
1st Author's Affiliation Kyoto University (Kyoto Univ.)
2nd Author's Name Takayuki Ito  
2nd Author's Affiliation Kyoto University (Kyoto Univ.)
3rd Author's Name Shiyao Ding  
3rd Author's Affiliation Kyoto University (Kyoto Univ.)
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Speaker Author-1 
Date Time 2026-03-02 11:20:00 
Presentation Time 25 minutes 
Registration for Consen 
Paper # Consen2025-29 
Volume (vol) vol.125 
Number (no) no.377 
Page pp.14-19 
#Pages 6 
Date of Issue 2026-02-23 (Consen) 

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