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Publications of SPCL

K. T. Foerster, L. Groner, T. Hoefler, M. Koenig, S. Schmid, R. Wattenhofer:

 Multi-agent Pathfinding with n Agents on Graphs with n Vertices: Combinatorial Classification and Tight Algorithmic Bounds

(. Vol , Nr. , In Algorithms and Complexity - 10th International Conference, {CIAC} 2017, Athens, Greece, May 24-26, 2017, Proceedings, presented in Athens, Greece, pages , , ISSN: , ISBN: , May 2017, )

Abstract

We investigate the multi-agent pathfinding (MAPF) problem with n agents on graphs with n vertices: Each agent has a unique start and goal vertex, with the objective of moving all agents in parallel movements to their goal s.t. each vertex and each edge may only be used by one agent at a time. We give a com- binatorial classification of all graphs where this problem is solvable in general, including cases where the solvability depends on the initial agent placement. Furthermore, we present an algorithm solving the MAPF problem in our setting, requiring O(n^2) rounds, or O(n^3) moves of individual agents. Complementing these results, we show that there are graphs where Ω(n^2) rounds and Ω(n^3) moves are required for any algorithm.

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BibTeX

@inproceedings{foerster-pathfinding,
  author={K. T. Foerster and L. Groner and T. Hoefler and M. Koenig and S. Schmid and R. Wattenhofer},
  title={{Multi-agent Pathfinding with n Agents on Graphs with n Vertices: Combinatorial Classification and Tight Algorithmic Bounds}},
  journal={},
  institution={},
  year={2017},
  month={05},
  pages={},
  volume={},
  number={},
  booktitle={Algorithms and Complexity - 10th International Conference, {CIAC} 2017, Athens, Greece, May 24-26, 2017, Proceedings},
  location={Athens, Greece},
  publisher={},
  issn={},
  isbn={},
  note={},
}