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PublicationP. Surynek. Solving Abstract Cooperative PathFinding in Densely Populated Environments. Computational Intelligence, 30, (2), 402450, 2014. Abstract: The problem of cooperative pathfinding is addressed in this work. A set of agents moving in a certain environment is given. Each agent needs to reach a given goal location. The task is to find spatial temporal paths for agents such that they eventually reach their goals by following these paths without colliding with each other. An abstraction where the environment is modeled as an undirected graph is adopted  vertices represent locations and edges represent passable regions. Agents are modeled as elements placed in the vertices while at most one agent can be located in a vertex at a time. At least one vertex remains unoccupied to allow agents to move. An agent can move into unoccupied neighboring vertex or into a vertex being currently vacated if a certain additional condition is satisfied. Two novel scalable algorithms for solving cooperative pathfinding in biconnected graphs are presented. Both algorithms target environments that are densely populated by agents. A theoretical and experimental evaluation shows that suggested algorithms represent a viable alternative to search based techniques as well as to techniques exploiting permutation groups on the studied class of the problem.
