Multi-Agent Pathfinding with Matching using Enhanced Partial Expansion A*

For the Multi-Agent Pathfinding (MAPF) problem, a set of non-colliding paths must be found for multiple agents. In Multi-Agent Pathfinding with Matching (MAPFM), this problem is extended: agents and goals are added to a team and each agent has to navigate to a goal that belongs to the same team. In this paper, two extensions of the EPEA* MAPF...

Solving Multi-Agent Pathfinding with Matching using A*+ID+OD

This paper extends the Multi-Agent Pathfinding (MAPF) algorithm, A*+ID+OD, to be able to solve problems with matching. This extension still keeps the optimal and completeness properties of the original algorithm. Matching is added to the algorithm in both an exhaustive and heuristic manner. Exhaustive matching is further improved by adding a new...