Publication

Z. Fang, Y. Cai and Z. Ren. Bounded Sub-Optimal Algorithms for Teamwise Cooperative Multi-Agent Path Finding. In International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2025.

Abstract: This paper studies Teamwise Cooperative Multi-Agent Path Finding, where agents are partitioned into teams and each team has its own objective. Optimal planners can enumerate Pareto-optimal solutions for this multi-objective setting but scale poorly as the number of agents grows. The paper introduces TC-CBS-TF, a bounded-suboptimal planner that adapts MAPF bounded-suboptimal search ideas to the teamwise setting. Experiments on maps with up to 50 agents show improved scalability and success rates over the baselines.

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