Multi-Goal Multi-Agent Path Finding via Decoupled and Integrated Goal Vertex Ordering

Proceedings of the International Symposium on Combinatorial Search, 14

Volume

Vol. 14 No. 1 (2021): Fourteenth International Symposium on Combinatorial Search

Extended Abstracts

We introduce multi-goal multi agent path finding (MG-MAPF) which generalizes the standard discrete multi-agent path finding (MAPF) problem. While the task in MAPF is to navigate agents in an undirected graph from their starting vertices to one individual goal vertex per agent, MG-MAPF assigns each agent multiple goal vertices and the task is to visit each of them at least once. Solving MG-MAPF not only requires finding collision free paths for individual agents but also determining the order of visiting agent's goal vertices so that common objectives like the sum-of-costs are optimized.

10.1609/socs.v12i1.18582