Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks

Understand

The MAPF problem is the fundamental problem of planning paths for multiple agents, where the key constraint is that the agents will be able to follow these paths concurrently without colliding with each other.

• Applications of MAPF include automated warehouses and autonomous vehicles.
• Research on MAPF has been flourishing in the past couple of years.
• Different MAPF research papers make different assumptions, e.g., whether agents can traverse the same road at the same time, and have different objective functions, e.g., minimize makespan or sum of agents' actions costs.