An alternating target-path planning framework decouples assignment from pathfinding in TAPF and uses MAPF feedback to iteratively refine assignments, scaling beyond CBS solvers.
Solving Simultaneous Target Assignemnt and Path Planning Efficiently with Time-Independent Execution
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Alternating Target-Path Planning for Scalable Multi-Agent Coordination
An alternating target-path planning framework decouples assignment from pathfinding in TAPF and uses MAPF feedback to iteratively refine assignments, scaling beyond CBS solvers.