The Multi-Agent Transportation Problem

We introduce the multi-agent transportation (MAT) problem, where agents have to transport containers from their starting positions designated goal positions. Movement takes place in a common environment collisions between and must be avoided. In contrast other frameworks such as pathfinding (MAPF) or pickup delivery (MAPD), are allowed separate at any time, which can reduce makespan also allows for plans scenarios that unsolvable otherwise. present complexity analysis establishing problem's NP-completeness show how problem reduced sequence of SAT problems when optimizing makespan. A MAT solver is empirically evaluated with regard varying input characteristics movement constraints compared MAPD utilizes conflict-based search (CBS).