---
title: "Bounded Suboptimal Multi-Agent Path Finding Using Highways"
authors:
  - "Liron Cohen"
  - "Sven Koenig"
doi: ""
url: "https://ijcai.org/proceedings/2016/563"
pdf: "https://ijcai.org/proceedings/2016/0563.pdf"
venue: "Proceedings of the Twenty-Fifth International Joint Conference on Artificial Intelligence"
year: 2016
pages: "3978-3978"
track: ""
keywords:
---

# Bounded Suboptimal Multi-Agent Path Finding Using Highways

Liron Cohen, Sven Koenig

*Proceedings of the Twenty-Fifth International Joint Conference on Artificial Intelligence*, pages 3978-3978.

## Abstract

The multi-agent path finding (MAPF) problem is defined as follows: Given a graph and a set of agents with unique start and goal vertices, find collision-free paths for all agents from their respective start vertices to their respective goal vertices. Our objective is to minimize the the total arrival time. MAPF has many applications such as video games, traffic control and robotics.