Publication

P. Surynek. Multi-Goal Multi-Agent Path Finding via Decoupled and Integrated Goal Vertex Ordering. In Proceedings of the International Symposium on Combinatorial Search (SoCS), pages 197-199, 2021.

Abstract: We introduce multi-goal multi agent path finding (MG-MAPF) which generalizes the standard discrete multi-agent path finding (MAPF) problem. While the task in MAPF is to navigate agents in an undirected graph from their starting vertices to one individual goal vertex per agent, MG-MAPF assigns each agent multiple goal vertices and the task is to visit each of them at least once. Solving MG-MAPF not only requires finding collision-free paths for individual agents but also determining the order of visiting agent’s goal vertices so that common objectives like the sum-of-costs are optimized.

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