A receding-horizon hierarchical factorization algorithm for multi-agent path finding that reduces time-to-first-action by up to 60% versus an offline baseline.
Planning optimal paths for multiple robots on graphs
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Multi-Agent Path Finding via Finite-Horizon Hierarchical Factorization
A receding-horizon hierarchical factorization algorithm for multi-agent path finding that reduces time-to-first-action by up to 60% versus an offline baseline.