Abstract
Online MAPF extends the classical Multi-Agent Path Finding problem (MAPF) by considering a more realistic problem in which new agents may appear over time. As online solvers are not aware of which agents will join in the future, the notion of snapshot-optimal was defined, where only current knowledge is considered. In this paper, we perform an extensive comparison between oracle-optimal solutions (where the solver is preinformed of future agents), snapshot-optimal solutions, and suboptimal solutions obtained by prioritised planning.
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