Available Benchmark Sets

Multi-Agent Path-Finding (MAPF) Benchmarks

This page is part of Nathan Sturtevant's Moving AI Lab. This page is focused on benchmark maps and problems for multi-agent path-finding.


There is a wide body of researchers who use gridworld domains as benchmarks. The goal of this page is to collect benchmark problems and maps that can be broadly used and referenced for comparison and testing purposes.

Browse and download the MAPF Benchmark Sets

If you would like to use these benchmarks in a paper, please cite the following paper which has an overview of the benchmarks:

@article{stern2019mapf,
  title={Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks},
  author={Roni Stern and Nathan R. Sturtevant and Ariel Felner and Sven Koenig and Hang Ma and Thayne T. Walker and Jiaoyang Li and Dor Atzmon and Liron Cohen and T. K. Satish Kumar and Eli Boyarski and Roman Bartak},
  journal={Symposium on Combinatorial Search (SoCS)},
  year={2019},
  pages={151--158}
}

This material is based upon work supported by the National Science Foundation under Grant No. 1815660. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation.