Plan Repair in Conflict-Free Routing

In conflict-free routing a set of agents have to traverse a common infrastructure without interfering with each other. Maza and Castagna [1] showed how the route plans of such agents can be repaired by maintaining the priority of agents on infrastructure resources. They also developed an algorithm that allows agents to change priorities to avoid long waits. We extend the work of Maza and Castagna by (i ) specifying an algorithm that allows more priority changes, and by (ii ) defining a graph structure that can predict exactly which priority changes will lead to a deadlock, and which will not.