Author

Alvin Combrink

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Preprint Oct 2026

The Cost of Classical Multi-Agent Path Finding

Multi-Agent Path Finding (MAPF) is the problem of planning conflict-free paths for multiple agents in a shared space, each from its start to its goal. Classical MAPF has been the dominant formulation for many years, with its assumptions of discrete time and graph-based conflicts presumably easing the search for solutio...

Alvin Combrink, S. Roselli, Martin Fabian · 0 citations

Preprint Aug 2026

AOC-CBS: Anytime-Optimal Continuous-time Conflict-Based Search for Generalised Multi-Agent Path Finding

Anytime-Optimal Continuous-time Conflict-Based Search (AOC-CBS), an exact and solution-complete solver for Multi-Agent Path Finding, and preliminary experiments against the exact solver OC-CBS show AOC-CBS is comparable at finding optimal solutions while extending scalability from the tens to the hundreds of agents whe...

Alvin Combrink, Sabino Francesco Roselli, Martin Fabian · 0 citations