Multi-Goal Multi-Agent Path Finding via Decoupled and Integrated Goal Vertex Ordering

We introduce multi-goal multi agent path finding (MAPFMG) which generalizes the standard discrete multi-agent path finding (MAPF) problem. While the task in MAPF is to navigate agents in an undirected graph from their starting vertices to one individual goal vertex per agent, MAPFMG assigns each agent multiple goal vertices and the task is to visit each of them at least once. Solving MAPFMG not only requires finding collision free paths for individual agents but also determining the order of visiting agent's goal vertices so that common objectives like the sum-of-costs are optimized. We suggest two novel algorithms using different paradigms to address MAPFMG: a heuristic search-based search algorithm called Hamiltonian-CBS (HCBS) and a compilation-based algorithm built using the SMT paradigm, called SMT-Hamiltonian-CBS (SMT-HCBS). Experimental comparison suggests limitations of compilation-based approach.