From Classical to Colored Multi-Agent Path Finding

Abstract

Multi-Agent Path Finding (MAPF) deals with the problem of finding collision-free paths for a set of agents moving in a shared environment. Colored MAPF generalizes MAPF by defining groups of agents that share a set of destination locations.

In the paper, we evaluate several approaches to optimally solve colored MAPF problem. We also investigate methods for obtaining lower bounds on optimal solution based on several relaxation techniques.

Keywords

• path finding
• multi agent
• network flows
• conflict-based search
• Boolean satisfiability