Distance-r Independent Unlabeled Multi-Agent Pathfinding is PSPACE-complete, with reduction-based and configuration-generator algorithms that solve instances with hundreds of agents.
Multi-Agent Path Finding with Real Robot Dynamics and Interdependent Tasks for Automated Warehouses , booktitle = ecai, volume =
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Distance-Constrained Unlabeled Multi-Agent Pathfinding
Distance-r Independent Unlabeled Multi-Agent Pathfinding is PSPACE-complete, with reduction-based and configuration-generator algorithms that solve instances with hundreds of agents.