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arXiv · 2208.01222

Optimal and Bounded-Suboptimal Multi-Goal Task Assignment and Path Finding

Xinyi Zhong·Jiaoyang Li·Sven Koenig·Hang Ma
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Abstract

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 the MG-TAPF problem is NP-hard to solve optimally. We present algorithms that build upon algorithmic techniques for the multi-agent path finding problem and solve the MG-TAPF problem optimally and bounded-suboptimally. We experimentally compare these algorithms on a variety of different benchmark domains.

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Xinyi Zhong, Jiaoyang Li, Sven Koenig, Hang Ma. 2022-08-02. Optimal and Bounded-Suboptimal Multi-Goal Task Assignment and Path Finding. https://arxiv.org/abs/2208.01222

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