# Shared-Roadmap Generation and Evaluator for Multi-Agent Path Planning Using Heterogeneous Graph Neural Network

**Published:** October 8, 2026
**Author:** Brandon Ho, Nikola Rogers, Seung-Kyum Choi
**Source:** arXiv — cs.AI
**Language:** en-US
**HTML:** https://aiqazaqstan.com/en/articles/shared-roadmap-generation-and-evaluator-for-multi-agent-path-planning-us

Multi-agent path planning (MAPP) in continuous environments often relies on roadmaps to balance safety and search efficiency. However, traditional roadmap generation methods, such as lattice grids or standard sampling-based approaches, frequently face a trade-off between graph…

> From the original source: **arXiv — cs.AI**
> [Read full article at arXiv — cs.AI](https://arxiv.org/abs/2610.09034)

**Tags:** #arXiv

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