@inproceedings{3c08f46830af4d3896005e42076881a5,
title = "Generalizing multi-agent path finding for heterogeneous agents",
abstract = "Multi-Agent Path Finding (MAPF) is the problem of finding non-colliding paths for multiple agents. The classical problem assumes that all agents are homogeneous, with a fixed size and behavior. However, in reality agents are heterogeneous. In this paper, we generalize MAPF to the case of general, heterogeneous agents (G-MAPF). We then show how two previous settings of large agents and k-robust agents are special cases of G-MAPF. Finally, we introduce G-CBS, a variant of the Conflict-Based Search (CBS) algorithm for GMAPF, which does not cause significant extra overhead.",
author = "Dor Atzmon and Yonathan Zax and Einat Kivity and Lidor Avitan and Jonathan Morag and Ariel Felner",
note = "Publisher Copyright: {\textcopyright} 2020 Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020. All rights reserved.; 13th International Symposium on Combinatorial Search, SoCS 2020 ; Conference date: 26-05-2020 Through 28-05-2020",
year = "2020",
month = jan,
day = "1",
language = "American English",
series = "Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020",
publisher = "The AAAI Press",
pages = "101--105",
editor = "Daniel Harabor and Mauro Vallati",
booktitle = "Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020",
}