A hybrid prioritized planner separates geometric path computation from decentralized execution-time conflict resolution to achieve scalable collision-free trajectories for up to 1000 agents.
Multi-agent path finding with continuous time and geo- metric agents viewed through satisfiability modulo theories (smt),
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Decoupling Geometric Planning and Execution in Scalable Multi-Agent Path Finding
A hybrid prioritized planner separates geometric path computation from decentralized execution-time conflict resolution to achieve scalable collision-free trajectories for up to 1000 agents.