Metamorphic Fuzzing for Multi-Agent Path Finding Algorithms

Multi-Agent Path Finding (MAPF) is a fundamental problem in multi-agent systems, with broad applications in warehouse logistics, robotics, and autonomous driving. Ensuring that MAPF solvers consistently return a solution whenever one exists and deliver high-quality plans is critical for real-world deployment. However, MAPF algorithms remain insufficiently tested. The high-dimensional, tightly coupled input space arising from map topology and agent configurations makes systematic testing extremely challenging.