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Insight is provided on when classical MAPF is a reasonable simplification, and when MAPF$_R$ unlocks significantly higher-quality solutions.
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...
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