On Modelling Multi-Agent Path Finding as a Classical Planning Problem

Multi-Agent Path Finding (MAPF) deals with the problem of finding collision-free paths for a set of agents, where each agent wants to move from its start location to its goal location on a shared graph. The paper addresses the question of how to model MAPF as a classical planning problem, specifically, how to encode various collision constraints. Several models in the PDDL modeling language are proposed and empirically compared.