Fault-Tolerant Offline Multi-Agent Path Planning

We study a novel graph path planning problem for multiple agents that may crash at runtime, and block part of the workspace. In our setting, can detect neighboring crashed agents, change followed paths runtime. The objective is then to prepare set switching rules each agent, ensuring all correct reach their destinations without collisions or deadlocks, despite unforeseen crashes other agents. Such attractive build reliable multi-robot systems. present formalization, theoretical analysis such as computational complexities, how solve this offline problem.