This paper strengthens Agafonov and Yakovlev's result by proving that LA-MAPF is PSPACE-complete via a polynomial-time reduction from Restricted Sliding Tokens.
Abstract
Multi-Agent Path Finding for Large Agents (LA-MAPF) is a geometric variant of MAPF in which agents are modeled as disks and conflicts are determined by physical overlap in the underlying Euclidean workspace. The goal of LA-MAPF is to decide whether there exists a sequence of conflict-free transitions from a start configuration to a goal configuration. Agafonov and Yakovlev proved that LA-MAPF is NP-hard. In this paper, we strengthen their result by proving that LA-MAPF is PSPACE-complete via a polynomial-time reduction from Restricted Sliding Tokens.
Background: Multi-Agent Path Finding (MAPF) has been widely studied in recent years. However, the computational cost of solving MAPF and MAPF for large agents (LA-MAPF) grows exponentially as the number of agents increases. This challenge is particularly severe for LA-MAPF, primarily due to the increased overhead of co...
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Anonymous Multi-Agent Path Finding (AMAPF) admits polynomial-time network-flow algorithms for several objectives, including makespan, total distance, and sum-of-costs (SoC) when agents disappear upon reaching goals. We show that standard goal-staying AMAPF is fundamentally different. We first formulate SoC minimization...
The ongoing work on examining various declarative MAPF encodings from the literature is summarized and some preliminary empirical results are presented, including some preliminary empirical results from Conflict-Based-Search.
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