Abstract

Abstract: This is an extended abstract of a previously published paper at AAAI 2019 (Ma et al. 2019). We generalize prioritized planning for Multi-Agent Path Finding from planning with a fixed total priority ordering of all agents to planning with all possible partial priority orderings. We present new theoretical results on its limitations in terms of completeness and optimality. We also present a novel prioritized algorithmic framework and demonstrate state-of-the-art solution qualities and success rates, often with runtimes similar to those of existing prioritized algorithms.

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