# Goal-Branching LaCAM: Temporary Goals as Search Branches in Dense Multi-Agent Pathfinding

**Published:** November 6, 2026
**Author:** Stephen Chang, Daniel Harabor
**Source:** arXiv — cs.AI
**Language:** en-US
**HTML:** https://aiqazaqstan.com/en/articles/goal-branching-lacam-temporary-goals-as-search-branches-in-dense-multi-a

arXiv:2611.07528v1 Announce Type: new Abstract: LaCAM is a search-based solver for multi-agent pathfinding (MAPF) that runs a depth-first search over joint configurations, using PIBT to generate successors and lazily adding single-agent constraints to explore alternatives.…

> From the original source: **arXiv — cs.AI**
> [Read full article at arXiv — cs.AI](https://arxiv.org/abs/2611.07528)

**Tags:** #arXiv

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