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A. Botea, D. Harabor and K. Wang. Towards Search-Free Multiagent Pathfinding. In Proceedings of the AAAI-12 Workshop on Multiagent Pathfinding, 2012.
Abstract: We introduce MARS (Multi-Agent Ring Slidable), an algorithm that combines ideas from the MAPP algorithm (Wang and Botea 2009) and CPDs (Botea 2011) to eliminate expensive runtime searches. We define a class of instances where MARS is complete. We prove theoretical properties of the algorithm. To the best of our knowledge, this could be the first work that aims at eliminating runtime search in MAPF.