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Keskin, M. Onur (author), Cantürk, Furkan (author), Eran, Cihan (author), Aydoğan, Reyhan (author)This paper introduces a negotiation framework to solve the Multi-Agent Path Finding (MAPF) Problem for self-interested agents in a decentralized fashion. The framework aims to achieve a good trade-off between the privacy of the agents and the effectiveness of solutions. Accordingly, a token-based bilateral negotiation protocol and two...journal article 2024