An alternating target-path planning framework decouples assignment from pathfinding in TAPF and uses MAPF feedback to iteratively refine assignments, scaling beyond CBS solvers.
Gerkey and Maja J
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Alternating Target-Path Planning for Scalable Multi-Agent Coordination
An alternating target-path planning framework decouples assignment from pathfinding in TAPF and uses MAPF feedback to iteratively refine assignments, scaling beyond CBS solvers.