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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Daniel Koyfman

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Open access Aug 2026

Tree-MAPF: On the Complexity of Optimizing Multi Agent Path Finding on Tree Graphs

In its general form, Multi-Agent Path Finding (MAPF) is well known to be NP-hard for various optimization objectives. But determining the complexity boundary for restricted topologies remains a key theoretical challenge. This paper investigates the complexity of MAPF on tree topologies. While recent work has establishe...

Daniel Koyfman, Dor Atzmon, Shahaf S. Shperberg et al. · 1 citation

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