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In our prior work, we outlined an approach, named DisCoF, for cooperativepathfinding in distributed systems with limited sensing and communicationrange. Contrasting to prior works on cooperative pathfinding with completenessguarantees, which often assume the access to global information, DisCoF doesnot make this assumption. The implication is that at any given time in DisCoF,the robots may not all be aware of each other, which is often the case indistributed systems. As a result, DisCoF represents an inherently onlineapproach since coordination can only be realized in an opportunistic mannerbetween robots that are within each other's sensing and communication range.However, there are a few assumptions made in DisCoF to facilitate a formalanalysis, which must be removed to work with distributed multi-robot platforms.In this paper, we present DisCoF$^+$, which extends DisCoF by enabling anasynchronous solution, as well as providing flexible decoupling between robotsfor performance improvement. We also extend the formal results of DisCoF toDisCoF$^+$. Furthermore, we evaluate our implementation of DisCoF$^+$ anddemonstrate a simulation of it running in a distributed multi-robotenvironment. Finally, we compare DisCoF$^+$ with DisCoF in terms of planquality and planning performance.

DisCoF$^+$: Asynchronous DisCoF with Flexible Decoupling for Cooperative Pathfinding in Distributed Systems