Establishes NP-hardness of MAPF on trees for labeled and 2-colored variants across three objectives by proving hardness of stack rearrangement, which reduces to motion on subdivided stars.
Refined Hardness of Distance-Optimal Multi-Agent Path Finding , booktitle =
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On the Hardness of Optimal Motion on Trees
Establishes NP-hardness of MAPF on trees for labeled and 2-colored variants across three objectives by proving hardness of stack rearrangement, which reduces to motion on subdivided stars.