## Abstract

Multi-agent path finding (MAPF) is the problem of moving a set of agents from their individual start locations to their individual goal locations, without collisions. This problem has practical applications in video games, traffic control, robotics, and more. In MAPF we assume that agents occupy one location each time step. However, in real life some agents have different size or shape. Hence, a standard MAPF solution may be not suited in practice for some applications. In this paper, we describe a novel algorithm, based on the CBS algorithm, that finds a plan for moving a set of train-agents, i.e., agents that occupy a sequence of two or more locations, such as trains, buses, planes, or even snakes. We prove that our solution is optimal and show experimentally that indeed such a solution can be found. Finally, we explain how our solution can also apply to agents with any geometric shape.

Original language | English |
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Title of host publication | Proceedings of the 12th International Symposium on Combinatorial Search, SoCS 2019 |

Editors | Pavel Surynek, William Yeoh |

Publisher | AAAI press |

Pages | 125-129 |

Number of pages | 5 |

ISBN (Electronic) | 9781577358084 |

State | Published - 2019 |

Externally published | Yes |

Event | 12th International Symposium on Combinatorial Search, SoCS 2019 - Napa, United States Duration: 16 Jul 2019 → 17 Jul 2019 |

### Publication series

Name | Proceedings of the 12th International Symposium on Combinatorial Search, SoCS 2019 |
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### Conference

Conference | 12th International Symposium on Combinatorial Search, SoCS 2019 |
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Country/Territory | United States |

City | Napa |

Period | 16/07/19 → 17/07/19 |

### Bibliographical note

Publisher Copyright:Copyright © 2019, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.