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cs.AI2026
Alternating Target-Path Planning for Scalable Multi-Agent Coordination
Yu Kumagai, Keisuke Okumura
The concurrent target assignment and pathfinding (TAPF) problem extends multi-agent pathfinding (MAPF) by asking planners to allocate distinct targets and collision-free paths to a…
cs.AI2025
Graph Attention-Guided Search for Dense Multi-Agent Pathfinding
Rishabh Jain, Keisuke Okumura, Michael Amir +1
Finding near-optimal solutions for dense multi-agent pathfinding (MAPF) problems in real-time remains challenging even for state-of-the-art planners. To this end, we develop a hybr…