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We study systems where agents are confined to separate regions and must exchange payloads through shared handover stations. These stations, equipped with single docks and finite buffers, are inherently vulnerable to blocking and starvation. We formalize this problem as Multi-Subsystem MAPD with Buffer-limited Handover Stations (MS-MAPD-BHS). We then propose Handover-Aware Reservation and Routing (HARR), an online controller that couples per-subsystem planners. HARR uses a shared dock reservation calendar and a deterministic rolling-horizon projection of buffer occupancy to coordinate actions. A candidate route is accepted only if its dock interval is free and the resulting buffer occupancy projection remains within capacity. Under perfect execution, these checks ensure collision-free dock use and buffer-safe com","title":"Lifelong Multi-Subsystem Pickup and Delivery with Buffer-Limited Handover Stations","url":"https://arxiv.org/abs/2607.17724","vendor":"arxiv_cs_ai"},"summary":"arXiv:2607.17724v1 Announce Type: cross \nAbstract: Coordinating payload transfers between subsystems is a critical challenge in lifelong Multi-Agent Pickup and Delivery (MAPD). We study systems where agents are confined to separate regions and must exchange payloads through shared handover stations. These stations, equipped with single docks and finite buffers, are inherently vulnerable to blocking and starvation. We formalize this problem as Multi-Subsystem MAPD with Buffer-limited Handover Stations (MS-MAPD-BHS). We then propose Handover-Aware Reservation and Routing (HARR), an online controller that couples per-subsystem planners. HARR uses a shared dock reservation calendar and a deterministic rolling-horizon projection of buffer occupancy to coordinate actions. A candidate route is accepted only if its dock interval is free and the resulting buffer occupancy projection remains within capacity. Under perfect execution, these checks ensure collision-free dock use and buffer-safe com","title":"Lifelong Multi-Subsystem Pickup and Delivery with Buffer-Limited Handover Stations","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-07-21T04:43:35Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2607.17724"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:2f5244740f45be2e0fdca28ec0d94c1df305d3ac9e041185356883466950553beda1b068dca7138bdf58ae6f44788d743ec087e62c84b22c4f87123507ff7b0f","signer":"crovia.substrate","subject":{"observed_at":"2026-07-21T04:43:35Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2607.17724"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"15962e67f4aef2eb7c68173689861a85f674ea9b5f64addd27c2f79dd676e3df","leaf_index":336795,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"ae1d33ef169bba198b373b0f2e791f0ff44681dd3fac36c4c21aa09005954deb","side":"left"},{"sibling":"baefcea19c015d3dd03453d29af549b891a690c39c3573ea271c63ecafce97f6","side":"left"},{"sibling":"919b5ab062969c0535a9ccc988b8683f289c30afc396b5a6ae44ef51c7660f77","side":"right"},{"sibling":"fd0a05620fc7b1b85d87cbab693e893e7985449175d232b97d4738febbe23f28","side":"left"},{"sibling":"7fe69faec0c8e15c5f363bfd03b8e9c8e7bb387cbbe9c1485b841d012d9f62cb","side":"left"},{"sibling":"52787d46cc76e7e83ec3a0eaa22f4ae41bb67c7960f5881f177b72a4199b9f85","side":"right"},{"sibling":"dae3e3795f6d531f6a2706d4e4f5a3367055dc5b4c40cea216b79f6a61941ab2","side":"right"},{"sibling":"90ee1b815719c44a83e23429473a176437135319947bc07c6e3752315a40068d","side":"left"},{"sibling":"bd233cee8c0876447824d86de33608c36e3a8e17dca0737155291ed768cf56d1","side":"left"},{"sibling":"7b927551b5db06b6571913b4e6792ffcce5291a3eca5a0df4a3b6e296271105f","side":"left"},{"sibling":"b77a0b5ae4607c8fe6ba73449d46b35076e3dedc0c82a2c65a05780d42a7bc2e","side":"right"},{"sibling":"9eb5077edfb3dc553857d4794b925bfce117e0f8a1d049af5d0dd9026b470eef","side":"right"},{"sibling":"414b1a70fd1dcb25489a194714b97492b066684b15d0b7a48a176c4b9b5bc713","side":"right"},{"sibling":"21d66dd41003813f710b7617944f1bfba3258658a5d3370c21cad8f9e945bc99","side":"left"},{"sibling":"613f015699131eb89bd755dee67133be95af25cf5f16c1c8ce4b99d963b8dd86","side":"right"},{"sibling":"a729b574b1135956436ded5eef1fe8f08014ff6a0729749d307ab1bca93fcdc9","side":"right"},{"sibling":"77025bcb374a7ad74f520643e20a8ae1205a7ee78507b0beb93117760f1c29d3","side":"left"},{"sibling":"4bf21052e085e8ac81f1dec1d2b310bd12bf948992de6177d12e9d2fda8d39f0","side":"right"},{"sibling":"1cecb7f447febd025aac272837c80de218aecc6485d2395a509b2a1f1b9c746e","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":337144,"merkle_root":"5e969cc01afa67e4dbe5d37b712cdb10f4aa1fd74404e02eab724cf487c8d6d9","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260721T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-07-21T05:38:38Z","sig_algorithm":"ed25519","signature":"5c0c1a8dd2793d787ccd5e49e8b4d70eed136352555518589f05c74be357fc171702e42a76c3a556d90e3d51ff36cb3d292aaac83c66566de7b943f318bda50c","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_2388b62490dd913ef750cbd1dba928d2d2192596969a02321f866cdadc11c625"}}