Generalizing Multi-Agent Path Finding for Heterogeneous Agents


  • Dor Atzmon Ben-Gurion University
  • Yonathan Zax Ben-Gurion University
  • Einat Kivity Ben-Gurion University
  • Lidor Avitan Ben-Gurion University
  • Jonathan Morag Ben-Gurion University
  • Ariel Felner Ben-Gurion University


Multi-Agent Path Finding (MAPF) is the problem of finding non-colliding paths for multiple agents. The classical problem assumes that all agents are homogeneous, with a fixed size and behavior. However, in reality agents are heterogeneous, with different sizes and behaviors. In this paper, we generalize MAPF to G-MAPF for the case of heterogeneous agents. We then show how two previous settings of large agents and k-robust agents are special cases of G-MAPF. Finally, we introduce G-CBS, a variant of the Conflict-Based Search (CBS) algorithm for G-MAPF, which does not cause significant extra overhead.