MAFIS: Multi-Agent Fault Injection Simulator

Name: MAFIS — Multi-Agent Fault Injection Simulator
Availability: InStock
Author: Teddy Truong

Teddy Truong

MAFIS: Multi-Agent Fault Injection Simulator

A fault resilience observatory for lifelong multi-agent path finding (MAPF). MAFIS measures how multi-agent warehouse robotics systems degrade, recover, and adapt under real-world fault conditions in real-time 3D simulation.

What MAFIS Measures

Cascade failure propagation across agent networks via Action Dependency Graphs
Recovery time and throughput degradation under configurable fault injection
Heat accumulation and Weibull wear patterns on warehouse grid cells
Comparative resilience across 7 lifelong MAPF solvers (PIBT, 3 RHCR variants, Token Passing, RT-LaCAM, TPTS)

Key Features

Real-time 3D WebAssembly simulation with up to 500 agents
Deterministic replay via seeded randomness for reproducible experiments
Fault scenarios: burst failures, zone outages, gradual degradation
Analysis: ADG construction, cascade BFS, resilience scorecards, heatmaps
Multiple warehouse topologies with visual map editor
CSV/JSON export for offline analysis

	WASM (browser)	Desktop (native)
Expected FPS	—	—
Threading	Single-threaded	Multi-threaded
GPU backend	WebGL2	Vulkan / Metal

Metric	Formula	Range	Description
Fault Tolerance	P_fault / P_nominal	0 – 1+	Fraction of baseline throughput retained under faults. Can exceed 1.0 (Braess paradox).
NRR	1 − MTTR / MTBF	0 – 1	Normalized Recovery Ratio. Higher = less time spent recovering. Requires ≥2 fault events.
Fleet Utilization	alive_tasked / initial_fleet	0 – 1	Productive fleet capacity retained. Counts latency-affected agents as tasked.
Critical Time	ticks_<50% / ticks_post-fault	0 – 1	Fraction of post-fault ticks below 50% baseline throughput. Lower is better.

Metric	Description
Throughput	Average tasks completed per tick (rolling window).
MVA	Chart display only — a 10-sample moving average applied to the throughput series for visual smoothness. Not a metric definition. The underlying throughput values are already a 100-tick rolling mean computed by the simulation (the actual reported metric).
MTTR	Mean recovery time of cascade-affected neighbors (not dead agents).
MTBF	Mean interval between fault events. Requires 2+ events.
Propagation Rate	Average fraction of alive fleet affected per fault event.
Survival Rate	Fraction of initial fleet still alive.
Idle Ratio	Fraction of agent-ticks spent waiting (not moving). Includes solver waits, collision holds, and latency.
Tasks Completed	Total pickup-to-delivery tasks completed since simulation start. Compared against the fault-free baseline to show cumulative productivity loss.
Impacted Area	Throughput deviation vs baseline: (live − baseline) / baseline × 100. Negative = behind.
Deficit Integral	Cumulative sum of ticks where live tasks fell behind the baseline. Higher = more total productivity lost to faults.
Surplus Integral	Cumulative sum of ticks where live tasks exceeded the baseline (Braess paradox — faults freed congestion). Net = Deficit − Surplus.

MAFIS: Multi-Agent Fault Injection Simulator

What MAFIS Measures

Key Features

Experiment Configuration

Results

WASM LIMITATIONS

DESKTOP ADVANTAGES

Fault Metrics Reference

Scorecard

Other Metrics

Composite Score