Colored Multi-Agent Path Finding: Solving Approaches

Multi-Agent Path Finding (MAPF) deals with the problem of finding collision-free paths for a set agents moving in shared environment while each agent has specified its destination. Colored MAPF generalizes by defining groups that share destination locations. In paper, we evaluate several approaches to optimally solve colored problem, namely, method based on network flows, an extended version conflict-based search, and two models using Boolean satisfiability. We also investigate methods obtaining lower bounds optimal solutions constraint continuous relaxation techniques.