Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Multi-Goal Multi-Agent Path Finding via Decoupled and Integrated Goal
  Vertex Ordering   We introduce multi-goal multi agent path finding (MAPF$^{MG}$) which
generalizes the standard discrete multi-agent path finding (MAPF) problem.
While the task in MAPF is to navigate agents in an undirected graph from their
starting vertices to one individual goal vertex per agent, MAPF$^{MG}$ assigns
each agent multiple goal vertices and the task is to visit each of them at
least once. Solving MAPF$^{MG}$ not only requires finding collision free paths
for individual agents but also determining the order of visiting agent's goal
vertices so that common objectives like the sum-of-costs are optimized. We
suggest two novel algorithms using different paradigms to address MAPF$^{MG}$:
a heuristic search-based search algorithm called Hamiltonian-CBS (HCBS) and a
compilation-based algorithm built using the SMT paradigm, called
SMT-Hamiltonian-CBS (SMT-HCBS). Experimental comparison suggests limitations of
compilation-based approach.

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The categories of this paper are: math
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The categories of this paper are: astro-ph
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The categories of this paper are: stat
34
The categories of this paper are: chem-ph
26
The categories of this paper are: bayes-an
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The categories of this paper are: alg-geom
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The categories of this paper are: nlin
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The categories of this paper are: quant-ph
29
The categories of this paper are: funct-an
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The categories of this paper are: hep-th
35
The categories of this paper are: mtrl-th
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The categories of this paper are: adap-org
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The categories of this paper are: nucl-ex
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The categories of this paper are: atom-ph
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The categories of this paper are: comp-gas
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The categories of this paper are: supr-con