Search-Based Optimal Solvers for the Multi-Agent Pathfinding Problem: Summary and Challenges Conference Paper uri icon


  • Multi-agent pathfinding (MAPF) is an area of expanding research interest. At the core of this research area, numerous diverse search-based techniques were developed in the past 6 years for optimally solving MAPF under the sum-of-costs objective function. In this paper we survey these techniques, while placing them into the wider context of the MAPF field of research. Finally, we provide analytical and experimental comparisons that show that no algorithm dominates all others in all circumstances. We conclude by listing important future research directions.

published proceedings

  • Proceedings of the International Symposium on Combinatorial Search

author list (cited authors)

  • Felner, A., Stern, R., Shimony, S., Boyarski, E., Goldenberg, M., Sharon, G., ... Surynek, P.

citation count

  • 35

complete list of authors

  • Felner, Ariel||Stern, Roni||Shimony, Solomon||Boyarski, Eli||Goldenberg, Meir||Sharon, Guni||Sturtevant, Nathan||Wagner, Glenn||Surynek, Pavel

publication date

  • January 2017