{"id":"https://openalex.org/W4415427785","doi":"https://doi.org/10.3233/faia251395","title":"Multi-Agent Path Finding for Large Agents Is Intractable","display_name":"Multi-Agent Path Finding for Large Agents Is Intractable","publication_year":2025,"publication_date":"2025-10-21","ids":{"openalex":"https://openalex.org/W4415427785","doi":"https://doi.org/10.3233/faia251395"},"language":null,"primary_location":{"id":"doi:10.3233/faia251395","is_oa":true,"landing_page_url":"https://doi.org/10.3233/faia251395","pdf_url":null,"source":{"id":"https://openalex.org/S4210201731","display_name":"Frontiers in artificial intelligence and applications","issn_l":"0922-6389","issn":["0922-6389","1879-8314"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Artificial Intelligence and Applications","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.3233/faia251395","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033094238","display_name":"Artem Agafonov","orcid":"https://orcid.org/0000-0001-9314-8634"},"institutions":[{"id":"https://openalex.org/I118501908","display_name":"National Research University Higher School of Economics","ror":"https://ror.org/055f7t516","country_code":"RU","type":"education","lineage":["https://openalex.org/I118501908"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Artem Agafonov","raw_affiliation_strings":["National Research University Higher School of Economics, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Research University Higher School of Economics, Moscow, Russia","institution_ids":["https://openalex.org/I118501908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056981356","display_name":"Konstantin Yakovlev","orcid":"https://orcid.org/0000-0002-4377-321X"},"institutions":[{"id":"https://openalex.org/I118501908","display_name":"National Research University Higher School of Economics","ror":"https://ror.org/055f7t516","country_code":"RU","type":"education","lineage":["https://openalex.org/I118501908"]},{"id":"https://openalex.org/I1313323035","display_name":"Russian Academy of Sciences","ror":"https://ror.org/05qrfxd25","country_code":"RU","type":"government","lineage":["https://openalex.org/I1313323035"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Konstantin Yakovlev","raw_affiliation_strings":["AIRI, Moscow, Russia","Federal Research Center \u201cComputer Science and Control\u201d of the Russian Academy of Sciences, Moscow, Russia","National Research University Higher School of Economics, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AIRI, Moscow, Russia","institution_ids":[]},{"raw_affiliation_string":"Federal Research Center \u201cComputer Science and Control\u201d of the Russian Academy of Sciences, Moscow, Russia","institution_ids":["https://openalex.org/I1313323035"]},{"raw_affiliation_string":"National Research University Higher School of Economics, Moscow, Russia","institution_ids":["https://openalex.org/I118501908"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.61855187,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9868000149726868,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/vertex","display_name":"Vertex (graph theory)","score":0.6062999963760376},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5069000124931335},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5041999816894531},{"id":"https://openalex.org/keywords/time-complexity","display_name":"Time complexity","score":0.4797999858856201},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.47110000252723694},{"id":"https://openalex.org/keywords/directed-graph","display_name":"Directed graph","score":0.42309999465942383},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4189999997615814}],"concepts":[{"id":"https://openalex.org/C80899671","wikidata":"https://www.wikidata.org/wiki/Q1304193","display_name":"Vertex (graph theory)","level":3,"score":0.6062999963760376},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5069000124931335},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5041999816894531},{"id":"https://openalex.org/C311688","wikidata":"https://www.wikidata.org/wiki/Q2393193","display_name":"Time complexity","level":2,"score":0.4797999858856201},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.47110000252723694},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4602999985218048},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4422000050544739},{"id":"https://openalex.org/C146380142","wikidata":"https://www.wikidata.org/wiki/Q1137726","display_name":"Directed graph","level":2,"score":0.42309999465942383},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4189999997615814},{"id":"https://openalex.org/C3018234147","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Undirected graph","level":3,"score":0.40299999713897705},{"id":"https://openalex.org/C90119067","wikidata":"https://www.wikidata.org/wiki/Q43260","display_name":"Polynomial","level":2,"score":0.3880000114440918},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.3537999987602234},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.3499000072479248},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.32580000162124634},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.3231000006198883},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.30869999527931213},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.30570000410079956},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.2939999997615814},{"id":"https://openalex.org/C76444178","wikidata":"https://www.wikidata.org/wiki/Q72897900","display_name":"Connectivity","level":3,"score":0.25940001010894775}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3233/faia251395","is_oa":true,"landing_page_url":"https://doi.org/10.3233/faia251395","pdf_url":null,"source":{"id":"https://openalex.org/S4210201731","display_name":"Frontiers in artificial intelligence and applications","issn_l":"0922-6389","issn":["0922-6389","1879-8314"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Artificial Intelligence and Applications","raw_type":"book-chapter"}],"best_oa_location":{"id":"doi:10.3233/faia251395","is_oa":true,"landing_page_url":"https://doi.org/10.3233/faia251395","pdf_url":null,"source":{"id":"https://openalex.org/S4210201731","display_name":"Frontiers in artificial intelligence and applications","issn_l":"0922-6389","issn":["0922-6389","1879-8314"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Artificial Intelligence and Applications","raw_type":"book-chapter"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0],"multi-agent":[1],"path":[2,275],"finding":[3,276],"(MAPF)":[4],"problem":[5,144,162,198,230,241],"asks":[6],"to":[7,81,150,180,234,239],"find":[8],"a":[9,14,27,254,279],"set":[10],"of":[11,47,98,114,132,225],"paths":[12,22],"on":[13,163,218],"graph":[15,166,256],"such":[16,147],"that":[17,83,117,159,195,265],"when":[18,101,146],"synchronously":[19],"following":[20],"these":[21],"the":[23,30,35,39,52,57,61,76,84,112,133,143,191,196,219,222,227,240,266,273],"agents":[24,93],"never":[25],"encounter":[26],"conflict.":[28],"In":[29,186,244],"most":[31],"widespread":[32],"MAPF":[33,85,161,182],"formulation,":[34],"so-called":[36],"Classical":[37,160],"MAPF,":[38],"agents\u2019":[40,77],"sizes":[41,78],"are":[42,49,149],"neglected":[43],"and":[44,107,260,263],"two":[45],"types":[46],"conflicts":[48,148],"considered:":[50],"occupying":[51],"same":[53,58,62,123],"vertex":[54,131],"or":[55],"using":[56,121],"edge":[59,106,124],"at":[60,128,242],"time":[63],"step.":[64],"Meanwhile":[65],"in":[66,71,170,221],"numerous":[67],"practical":[68],"applications,":[69],"e.g.":[70],"robotics,":[72],"taking":[73],"into":[74],"account":[75],"is":[79,118,199,216,232,270],"vital":[80],"ensure":[82],"solutions":[86],"can":[87,167],"be":[88,151,168,212,235],"safely":[89],"executed.":[90],"Introducing":[91],"large":[92,184],"yields":[94],"an":[95,105,164,236,247],"additional":[96],"type":[97],"conflict":[99],"arising":[100],"one":[102],"agent":[103,116],"follows":[104],"its":[108],"body":[109,113],"overlaps":[110],"with":[111,183,257],"another":[115],"actually":[119],"not":[120,139],"this":[122,187],"(e.g.":[125],"staying":[126],"still":[127],"some":[129],"distinct":[130],"graph).":[134],"Until":[135],"now":[136],"it":[137,156,209],"was":[138,157,178],"clear":[140],"how":[141],"harder":[142],"gets":[145],"considered":[152],"while":[153],"planning.":[154],"Specifically,":[155],"known":[158,233],"undirected":[165],"solved":[169],"polynomial":[171,206],"time,":[172,193],"however":[173],"no":[174,205],"complete":[175],"polynomial-time":[176],"algorithm":[177,207],"presented":[179],"solve":[181],"agents.":[185],"paper":[188],"we,":[189],"for":[190,208,246],"first":[192],"establish":[194],"latter":[197],"NP-hard":[200],"and,":[201],"thus,":[202],"if":[203],"P\u2260NP":[204],"can,":[210],"unfortunately,":[211],"presented.":[213],"Our":[214],"proof":[215],"based":[217],"prevalent":[220],"field":[223],"technique":[224],"reducing":[226],"seminal":[228],"3-SAT":[229,249,268],"(which":[231],"NP-complete":[237],"problem)":[238],"hand.":[243],"particular,":[245],"arbitrary":[248],"formula":[250,269],"we":[251],"procedurally":[252],"construct":[253],"dedicated":[255],"specific":[258],"start":[259],"goal":[261],"vertices":[262],"show":[264],"given":[267],"satisfiable":[271],"iff":[272],"corresponding":[274],"instance":[277],"has":[278],"solution.":[280]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-24T00:00:00"}