@techreport{fb758e6be4b34ce294c2769a13af1a74,

title = "Multi-Agent Path Finding with Deadlines: Preliminary Results",

abstract = "We formalize the problem of multi-agent path finding with deadlines (MAPF-DL). The objective is to maximize the number of agents that can reach their given goal vertices from their given start vertices within a given deadline, without colliding with each other. We first show that the MAPF-DL problem is NP-hard to solve optimally. We then present an optimal MAPF-DL algorithm based on a reduction of the MAPF-DL problem to a flow problem and a subsequent compact integer linear programming formulation of the resulting reduced abstracted multi-commodity flow network.",

keywords = "Computer Science - Artificial Intelligence, Computer Science - Multiagent Systems",

author = "Hang Ma and Glenn Wagner and Ariel Felner and Jiaoyang Li and {Satish Kumar}, {T. K.} and Sven Koenig",

year = "2018",

month = may,

day = "1",

language = "???core.languages.en_GB???",

series = "arXiv preprint ",

type = "WorkingPaper",

}