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In the Multi-Agent Path Finding (MAPF) problem, a set of agents moving on a graph must reach their own respective destinations without inter-agent collisions.
The hungarian method for the assignment problem
Harold W Kuhn · 1955
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The bottleneck assignment problem
O Gross · 1959
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Algorithm 97: shortest path
Robert W Floyd · 1962
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Coordinating pebble motion on graphs, the diameter of permutation groups, and applications
Daniel Martin Kornhauser, Gary Miller, and Paul Spirakis · 1984
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On multiple moving objects
Michael Erdmann and Tomas Lozano-Perez · 1987
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Priority inheritance protocols: An approach to real-time synchronization
Lui Sha, Ragunathan Rajkumar, and John P Lehoczky · 1990
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Conflict-free motion of multiple mobile robots based on decentralized motion planning and negotiation
Kianoush Azarm and Günther Schmidt · 1997
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Finding and optimizing solvable priority schemes for decoupled path planning techniques for teams of mobile robots
Maren Bennewitz, Wolfram Burgard, and Sebastian Thrun · 2002
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Cooperative pathfinding
David Silver · 2005
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Prioritized motion planning for multiple robots
Jur P Van Den Berg and Mark H Overmars · 2005
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A multiagent approach to autonomous intersection management
Kurt Dresner and Peter Stone · 2008
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Coordinating hundreds of cooperative, autonomous vehicles in warehouses
Peter R Wurman, Raffaello D’Andrea, and Mick Mountz · 2008
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Exploiting subgraph structure in multi-robot path planning
Malcolm Ross Kinsella Ryan · 2008
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A complete and scalable strategy for coordinating multiple robots within roadmaps
Mike Peasgood, Christopher Michael Clark, and John McPhee · 2008
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A novel approach to path planning for multiple robots in bi-connected graphs
Pavel Surynek · 2009
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An optimization variant of multi-robot path planning is intractable
Pavel Surynek · 2010
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Finding optimal solutions to cooperative pathfinding problems
Trevor Scott Standley · 2010
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Decentralized prioritized planning in large multirobot teams
Prasanna Velagapudi, Katia Sycara, and Paul Scerri · 2010
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Push and swap: Fast cooperative path-finding with completeness guarantees
Ryan Luna and Kostas E Bekris · 2011
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Mapp: a scalable multi-agent path planning algorithm with tractability and completeness guarantees
Ko-Hsin Cindy Wang and Adi Botea · 2011
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A polynomial-time algorithm for non-optimal multi-agent pathfinding
Mokhtar M. Khorshid, Robert C. Holte, and Nathan R. Sturtevant · 2011
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Towards optimal cooperative path planning in hard setups through satisfiability solving
Pavel Surynek · 2012
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Multi-agent pathfinding with simultaneous execution of single-agent primitives
Qandeel Sajid, Ryan Luna, and Kostas E Bekris · 2012
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Structure and intractability of optimal multi-robot path planning on graphs
Jingjin Yu and Steven M LaValle · 2013
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The increasing cost tree search for optimal multi-agent pathfinding
Guni Sharon, Roni Stern, Meir Goldenberg, and Ariel Felner · 2013
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A general formal framework for pathfinding problems with multiple agents
Esra Erdem, Doga Gizem Kisa, Umut Öztok, and Peter Schüller · 2013
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Push and rotate: cooperative multi-agent path planning
Boris de Wilde, Adriaan W ter Mors, and Cees Witteveen · 2013
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Enhanced partial expansion A*
Meir Goldenberg, Ariel Felner, Roni Stern, Guni Sharon, Nathan Sturtevant, Robert Holte, and Jonathan Schaeffer · 2014
Cited alongside, same era.
Suboptimal variants of the conflict-based search algorithm for the multi-agent pathfinding problem
Max Barer, Guni Sharon, Roni Stern, and Ariel Felner · 2014
Cited alongside, same era.
Conflict-oriented windowed hierarchical cooperative A ∗ \text{A}^{\ast}
Zahy Bnaya and Ariel Felner · 2014
Cited alongside, same era.
Decentralized and complete multi-robot motion planning in confined spaces
Multi-agent pathfinding: Definitions, variants, and benchmarks
Roni Stern, Nathan Sturtevant, Ariel Felner, Sven Koenig, Hang Ma, Thayne Walker, Jiaoyang Li, Dor Atzmon, Liron Cohen, TK Kumar, et al · 2019
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Multi-agent path finding with priority for cooperative automated valet parking
Ayano Okoso, Keisuke Otaki, and Tomoki Nishi · 2019
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Branch-and-cut-and-price for multi-agent pathfinding
Edward Lam, Pierre Le Bodic, Daniel Damir Harabor, and Peter J Stuckey · 2019
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Priority inheritance with backtracking for iterative multi-agent path finding
Keisuke Okumura, Manao Machida, Xavier Défago, and Yasumasa Tamura · 2019
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Unifying search-based and compilation-based approaches to multi-agent path finding through satisfiability modulo theories
Pavel Surynek · 2019
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Primal: Pathfinding via reinforcement and imitation multi-agent learning
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Adam Wiktor, Dexter Scobee, Sean Messenger, and Christopher Clark · 2014
Cited alongside, same era.
Multi-robot cooperative pathfinding: A decentralized approach
Changyun Wei, Koen V Hindriks, and Catholijn M Jonker · 2014
Cited alongside, same era.
Intractability of optimal multirobot path planning on planar graphs
Jingjin Yu · 2015
Cited alongside, same era.
Conflict-based search for optimal multi-agent pathfinding
Guni Sharon, Roni Stern, Ariel Felner, and Nathan R Sturtevant · 2015
Cited alongside, same era.
Subdimensional expansion for multirobot path planning
Glenn Wagner and Howie Choset · 2015
Cited alongside, same era.
Prioritized planning algorithms for trajectory coordination of multiple mobile robots
Michal Čáp, Peter Novák, Alexander Kleiner, and Martin Seleckỳ · 2015
Cited alongside, same era.
Don’t split, try to work it out: bypassing conflicts in multi-agent pathfinding
Eli Boyrasky, Ariel Felner, Guni Sharon, and Roni Stern · 2015
Cited alongside, same era.
Guillaume Sartoretti, Justin Kerr, Yunfei Shi, Glenn Wagner, TK Satish Kumar, Sven Koenig, and Howie Choset · 2019
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Multi-agent path finding–an overview
Roni Stern · 2019
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Multi-robot planning with conflicts and synergies
Yuqian Jiang, Harel Yedidsion, Shiqi Zhang, Guni Sharon, and Peter Stone · 2019
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Searching with consistent prioritization for multi-agent path finding
Hang Ma, Daniel Harabor, Peter J Stuckey, Jiaoyang Li, and Sven Koenig · 2019
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Online multi-agent pathfinding
Jiří Švancara, Marek Vlk, Roni Stern, Dor Atzmon, and Roman Barták · 2019
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Improved heuristics for multi-agent path finding with conflict-based search
Jiaoyang Li, Ariel Felner, Eli Boyarski, Hang Ma, and Sven Koenig · 2019
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Disjoint splitting for multi-agent path finding with conflict-based search
Jiaoyang Li, Daniel Harabor, Peter J Stuckey, Hang Ma, and Sven Koenig · 2019
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New valid inequalities in branch-and-cut-and-price for multi-agent path finding
Edward Lam and Pierre Le Bodic · 2020
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On the computational complexity of multi-agent pathfinding on directed graphs
Bernhard Nebel · 2020
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Solving sum-of-costs multi-agent pathfinding with answer-set programming
Rodrigo N G’omez, Carlos Hern’andez, and Jorge A Baier · 2020
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Graph neural networks for decentralized multi-robot path planning
Qingbiao Li, Fernando Gama, Alejandro Ribeiro, and Amanda Prorok · 2020
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Multi-agent path finding with mutex propagation
Han Zhang, Jiaoyang Li, Pavel Surynek, Sven Koenig, and TK Satish Kumar · 2020
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Pairwise symmetry reasoning for multi-agent path finding search
Jiaoyang Li, Daniel Harabor, Peter J Stuckey, and Sven Koenig · 2021
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Iterative refinement for real-time multi-robot path planning
Keisuke Okumura, Yasumasa Tamura, and Xavier Défago · 2021
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Eecbs: A bounded-suboptimal search for multi-agent path finding
Jiaoyang Li, Wheeler Ruml, and Sven Koenig · 2021
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Primal _ 2 \_2 : Pathfinding via reinforcement and imitation multi-agent learning-lifelong
Mehul Damani, Zhiyao Luo, Emerson Wenzel, and Guillaume Sartoretti · 2021
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Message-aware graph attention networks for large-scale multi-robot path planning
Qingbiao Li, Weizhe Lin, Zhe Liu, and Amanda Prorok · 2021
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Lifelong multi-agent path finding in large-scale warehouses
Jiaoyang Li, Andrew Tinka, Scott Kiesel, Joseph W Durham, TK Satish Kumar, and Sven Koenig · 2021
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Time-independent planning for multiple moving agents
Keisuke Okumura, Yasumasa Tamura, and Xavier Défago · 2021
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