Wang, Ko-Hsin; Botea, Adi
Multi-agent path planning is a challenging problem with numerous real-life applications. Running a centralized search such as A* in the combined state space of all units is complete and cost-optimal, but scales poorly, as the state space size is exponential in the number of mobile units. Traditional decentralized approaches, such as FAR andWHCA*, are faster and more scalable, being based on problem decomposition. However, such methods are incomplete and provide no guarantees with respect to the...[Show more]
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