Author

S. Bernardini

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Preprint Aug 2026

Pivot-and-Station Multi-Agent Path Finding: Solvability, Complexity, and Algorithms

This work introduces Pivot-and-Station Multi-Agent Path Finding (PS-MAPF), a MAPF variant in which a subset of tasked agents must each visit one of a set of interchangeable pivots before the entire fleet terminates at anonymous stations, one agent per station.

Andrea Di Nezza, Mihir P Patel, F. Fagnani et al. · 0 citations