Matching in Multi-Agent Pathfinding using M*

Multi-agent pathfinding (MAPF) is the process of finding collision-free paths for multiple agents. MAPF can be extended by grouping agents into teams. In a team, agents need to be assigned (or matched) to one of the team's goals such that the sum of individual cost} is minimised. This extension is called MAPF with matching (MAPFM). M* is a...