This working paper presents an architecture for tractable online multi-agent coordination in dense, multi-level warehouse systems. It frames the problem as an online variant of Multi-Agent Path Finding, then argues for a layered design built around vertical decomposition, localized replanning, and compositional correctness.
The document focuses on preserving collision-freedom unconditionally while making liveness guarantees explicit and grounded in infrastructure and hardware assumptions. It is written as an architecture paper for real warehouse coordination systems rather than as a purely academic MAPF treatment.