Conflict-Based Search as a Protocol: A Multi-Agent Motion Planning Protocol for Heterogeneous Agents, Solvers, and Independent Tasks

B. Algorithmically Heterogeneous MAMP T echniques Unlike algorithmically homogeneous MAMP methods, al-gorithmically heterogeneous MAMP methods do not require each agent run the same solver. To our surprise, we could not find any published work that addresses this problem setting. In particular, existing MAMP methods for heterogeneous teams focus on robots with different capabilities but use algorithmi-cally homogeneous solutions (e.g., [7], [11], [16]). On the other hand, existing multi-agent task planning/coordination methods focus on heterogeneous behaviors or task assignment and not on collision-free movement [27], [28]. Thus, part of this paper's goal is to introduce / bring attention to the Algorithmically Heterogeneous MAMP (AH-MAMP) problem setting. AH-MAMP tries to achieve collision-free motion planning for heterogeneous single-agent solvers without being able to modify the solvers. Solutions for AH-MAMP instead require designing multi-agent protocols with well-defined single-agent APIs, with the protocol/API abstraction enabling using heterogeneous single-agent solvers.