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The Cartographer
On the Computational Complexity of Multi-Agent Pathfinding on Directed Graphs
November 11, 2019 Β· Declared Dead Β· π International Conference on Automated Planning and Scheduling
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Authors
Bernhard Nebel
arXiv ID
1911.04871
Category
cs.AI: Artificial Intelligence
Cross-listed
cs.CC
Citations
31
Venue
International Conference on Automated Planning and Scheduling
Last Checked
4 months ago
Abstract
The determination of the computational complexity of multi-agent pathfinding on directed graphs has been an open problem for many years. For undirected graphs, solvability can be decided in polynomial time, as has been shown already in the eighties. Further, recently it has been shown that a special case on directed graphs is solvable in polynomial time. In this paper, we show that the problem is NP-hard in the general case. In addition, some upper bounds are proven.
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