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A* Variants for Optimal Multi-Agent Pathfinding

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Authors

Meir Goldenberg,Ariel Felner,Roni Stern,Jonathan Schaeffer

Ben-Gurion University,Ben-Gurion University,Ben-Gurion University,University of Alberta


DOI:

10.1609/socs.v3i1.18259


Abstract:

Several variants of A* have been recently proposed for find-ing optimal solutions for the multi-agent pathfinding (MAPF)problem. We describe the application of the new enhancedpartial-expansion technique to MAPF, show how patterndatabases can be applied on top of this technique and com-pare the different A* variants experimentally.