MAPFZ extends classical MAPF to non-unit integer costs on graphs with finite states, solved efficiently by CBS-NIC and Bayesian-optimized discretization, outperforming prior methods on benchmarks.
Optimal and bounded-suboptimal multi-agent motion planning,
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Multi-Agent Pathfinding with Non-Unit Integer Edge Costs via Enhanced Conflict-Based Search and Graph Discretization
MAPFZ extends classical MAPF to non-unit integer costs on graphs with finite states, solved efficiently by CBS-NIC and Bayesian-optimized discretization, outperforming prior methods on benchmarks.