Efficient Bounded-Suboptimal Search for the Multiagent Pathfinding Problem

Abstract—: This article considers the problem of planning a complex of nonconflicting paths for a set of agents that are capable of performing actions of arbitrary duration. Two bounded-suboptimal modifications of a conflict-based search algorithm are proposed as solutions to the problem. The results of model experimental studies demonstrate the high computational efficiency of the proposed modifications. © Allerton Press, Inc. 2023.