Publication at Faculty of Mathematics and Physics |
2020
Abstract
Multi-Agent Path Finding (MAPF) deals with finding collision-free paths for a set of agents. It is a special case of a planning problem with only two actions - move and wait - and with one major constraint of no collision between the agents.
The paper addresses the question of how to model MAPF as a classical sequential planning problem. Several models in the PDDL language are proposed and empirically compared.