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K. T. Foerster, L. Groner, T. Hoefler, M. Koenig, S. Schmid, R. Wattenhofer:
  Multiagent Pathfinding with n Agents on Graphs with n Vertices: Combinatorial Classification and Tight Algorithmic Bounds
(In Algorithms and Complexity  10th International Conference, {CIAC} 2017, Athens, Greece, May 2426, 2017, Proceedings, presented in Athens, Greece, May 2017)
AbstractWe investigate the multiagent 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.
Documentsdownload article:   BibTeX  @inproceedings{foersterpathfinding, author={K. T. Foerster and L. Groner and T. Hoefler and M. Koenig and S. Schmid and R. Wattenhofer}, title={{Multiagent Pathfinding with n Agents on Graphs with n Vertices: Combinatorial Classification and Tight Algorithmic Bounds}}, year={2017}, month={May}, booktitle={Algorithms and Complexity  10th International Conference, {CIAC} 2017, Athens, Greece, May 2426, 2017, Proceedings}, location={Athens, Greece}, source={http://www.unixer.de/~htor/publications/}, } 

