Bounded Suboptimal Multi-Agent Path Finding Using Highways / 3978
Liron Cohen, Sven Koenig

The multi-agent path finding (MAPF) problem is defined as follows: Given a graph and a set of agents with unique start and goal vertices, find collision-free paths for all agents from their respective start vertices to their respective goal vertices. Our objective is to minimize the the total arrival time. MAPF has many applications such as video games, traffic control and robotics.

PDF