Optimal and Bounded-Suboptimal Multi-Goal Task Assignment and Path Finding
Xinyi Zhong,Jiaoyang Li,Sven Koenig,Hang Ma,Xinyi Zhong,Jiaoyang Li,Sven Koenig,Hang Ma
We formalize and study the multi-goal task assignment and path finding (MG-TAPF) problem from theoretical and algorithmic perspectives. The MG-TAPF problem is to compute an assignment of tasks to agents, where each task consists of a sequence of goal locations, and collision-free paths for the agents that visit all goal locations of their assigned tasks in sequence. Theoretically, we prove that th...
