Abstract
We investigate the multi-agent pathfinding (MAPF) problem with $n$ agents on graphs with $n$ vertices:
Each agent has a unique start and goal vertex, with the objective of moving all agents in parallel movements to their goal s.t.~each vertex and each edge may only be used by one agent at a time.
We give a combinatorial classification of all graphs where this problem is solvable in general, including cases where the solvability depends on the initial agent placement.
Furthermore, we present an algorithm solving the MAPF problem in our setting, requiring O(n²) rounds, or O(n³) moves of individual agents.
Complementing these results, we show that there are graphs where Omega(n²) rounds and Omega(n³) moves are required for any algorithm.
Each agent has a unique start and goal vertex, with the objective of moving all agents in parallel movements to their goal s.t.~each vertex and each edge may only be used by one agent at a time.
We give a combinatorial classification of all graphs where this problem is solvable in general, including cases where the solvability depends on the initial agent placement.
Furthermore, we present an algorithm solving the MAPF problem in our setting, requiring O(n²) rounds, or O(n³) moves of individual agents.
Complementing these results, we show that there are graphs where Omega(n²) rounds and Omega(n³) moves are required for any algorithm.
Original language | English |
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Title of host publication | Algorithms and Complexity : 10th International Conference, CIAC 2017, Athens, Greece, May 24-26, 2017, Proceedings |
Number of pages | 13 |
Publisher | Springer |
Publication date | 17 Apr 2017 |
Pages | 247 |
Chapter | 259 |
ISBN (Print) | 978-3-319-57585-8 |
ISBN (Electronic) | 978-3-319-57586-5 |
DOIs | |
Publication status | Published - 17 Apr 2017 |
Event | Algorithms and Complexity - Athens, Greece Duration: 24 May 2017 → 26 May 2017 Conference number: 10 http://www.corelab.ntua.gr/ciac2017/ |
Conference
Conference | Algorithms and Complexity |
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Number | 10 |
Country/Territory | Greece |
City | Athens |
Period | 24/05/2017 → 26/05/2017 |
Internet address |
Series | Lecture Notes in Computer Science |
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Volume | 10236 |
ISSN | 0302-9743 |