Wang, Ko-Hsin; Botea, Adi
Multi-agent path planning has been shown to be a PSPACE-hard problem. Running a complete search such as A* at the global level is often intractable in practice, since both the number of states and the branching factor grow exponentially as the number of mobile units increases. In addition to the inherent difficulty of the problem, in many real-life applications such as computer games, solutions have to be computed in real time, using limited CPU and memory resources. In this paper we introduce...[Show more]
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