A* Variants for Optimal Multi-Agent Pathfinding

Several variants of A* have been recently proposed for find-ing optimal solutions for the multi-agent pathfinding (MAPF)problem. We describe the application of the new enhancedpartial-expansion technique to MAPF, show how patterndatabases can be applied on top of this technique and com-pare the different A* variants experimentally.

Authors

• Meir Goldenberg
• Ariel Felner
• Roni Stern
• Jonathan Schaeffer 0001

Keywords

• partial expansion
• pattern databases