{"id":"https://openalex.org/W4389911803","doi":"https://doi.org/10.48550/arxiv.2312.09646","title":"Exact Algorithms and Lowerbounds for Multiagent Pathfinding: Power of Treelike Topology","display_name":"Exact Algorithms and Lowerbounds for Multiagent Pathfinding: Power of Treelike Topology","publication_year":2023,"publication_date":"2023-12-15","ids":{"openalex":"https://openalex.org/W4389911803","doi":"https://doi.org/10.48550/arxiv.2312.09646"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2312.09646","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2312.09646","pdf_url":"https://arxiv.org/pdf/2312.09646","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2312.09646","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018558873","display_name":"Foivos Fioravantes","orcid":"https://orcid.org/0000-0001-8217-030X"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Fioravantes, Foivos","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073361240","display_name":"Du\u0161an Knop","orcid":"https://orcid.org/0000-0003-2588-5709"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Knop, Du\u0161an","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019015361","display_name":"Jan Maty\u00e1\u0161 K\u0159i\u0161\u0165an","orcid":"https://orcid.org/0000-0001-6657-0020"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"K\u0159i\u0161\u0165an, Jan Maty\u00e1\u0161","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088003340","display_name":"Nikolaos Melissinos","orcid":"https://orcid.org/0000-0002-0864-9803"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Melissinos, Nikolaos","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5006649123","display_name":"Michal Opler","orcid":"https://orcid.org/0000-0002-4389-5807"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Opler, Michal","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5018558873"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":null,"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":0.9711999893188477,"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":0.9711999893188477,"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/T13664","display_name":"Genome Rearrangement Algorithms","score":0.9132999777793884,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9090999960899353,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.7539547681808472},{"id":"https://openalex.org/keywords/treewidth","display_name":"Treewidth","score":0.7133654952049255},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.6577895879745483},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.5916333794593811},{"id":"https://openalex.org/keywords/degree","display_name":"Degree (music)","score":0.5243803858757019},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5183983445167542},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5072957873344421},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.49939775466918945},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4787561297416687},{"id":"https://openalex.org/keywords/planar-graph","display_name":"Planar graph","score":0.47463926672935486},{"id":"https://openalex.org/keywords/vertex","display_name":"Vertex (graph theory)","score":0.45918482542037964},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.43255046010017395},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.37707531452178955},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.35694822669029236},{"id":"https://openalex.org/keywords/pathwidth","display_name":"Pathwidth","score":0.33380430936813354},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.27658289670944214},{"id":"https://openalex.org/keywords/line-graph","display_name":"Line graph","score":0.13210943341255188},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09242084622383118}],"concepts":[{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.7539547681808472},{"id":"https://openalex.org/C132569581","wikidata":"https://www.wikidata.org/wiki/Q5067368","display_name":"Treewidth","level":5,"score":0.7133654952049255},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.6577895879745483},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.5916333794593811},{"id":"https://openalex.org/C2775997480","wikidata":"https://www.wikidata.org/wiki/Q586277","display_name":"Degree (music)","level":2,"score":0.5243803858757019},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5183983445167542},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5072957873344421},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.49939775466918945},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4787561297416687},{"id":"https://openalex.org/C101837359","wikidata":"https://www.wikidata.org/wiki/Q547823","display_name":"Planar graph","level":3,"score":0.47463926672935486},{"id":"https://openalex.org/C80899671","wikidata":"https://www.wikidata.org/wiki/Q1304193","display_name":"Vertex (graph theory)","level":3,"score":0.45918482542037964},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.43255046010017395},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.37707531452178955},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.35694822669029236},{"id":"https://openalex.org/C43517604","wikidata":"https://www.wikidata.org/wiki/Q7144893","display_name":"Pathwidth","level":4,"score":0.33380430936813354},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.27658289670944214},{"id":"https://openalex.org/C203776342","wikidata":"https://www.wikidata.org/wiki/Q1378376","display_name":"Line graph","level":3,"score":0.13210943341255188},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09242084622383118},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2312.09646","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2312.09646","pdf_url":"https://arxiv.org/pdf/2312.09646","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},{"id":"doi:10.48550/arxiv.2312.09646","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2312.09646","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2312.09646","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2312.09646","pdf_url":"https://arxiv.org/pdf/2312.09646","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G112504165","display_name":null,"funder_award_id":"CZ.02.01.01/00/22_008/0004590","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G3697738339","display_name":null,"funder_award_id":"SGS23/205/OHK3/3T/18","funder_id":"https://openalex.org/F4320309972","funder_display_name":"\u010cesk\u00e9 Vysok\u00e9 U\u010den\u00ed Technick\u00e9 v Praze"}],"funders":[{"id":"https://openalex.org/F4320309972","display_name":"\u010cesk\u00e9 Vysok\u00e9 U\u010den\u00ed Technick\u00e9 v Praze","ror":"https://ror.org/03kqpb082"},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2075531723","https://openalex.org/W2113684989","https://openalex.org/W1511821218","https://openalex.org/W4389814085","https://openalex.org/W2175868772","https://openalex.org/W4285659194","https://openalex.org/W3031065515","https://openalex.org/W4301463689","https://openalex.org/W2605313623","https://openalex.org/W2133160845"],"abstract_inverted_index":{"In":[0,69],"the":[1,44,47,50,53,59,66,78,124,128,140,144,150,164,179,182],"Multiagent":[2],"Path":[3],"Finding":[4],"problem":[5,132,186],"(MAPF":[6],"for":[7,16,92,158,175,189,199],"short),":[8],"we":[9,72,85,153,161],"focus":[10],"on":[11,22,103],"efficiently":[12],"finding":[13],"non-colliding":[14],"paths":[15],"a":[17,23,31,38,62,74],"set":[18],"of":[19,43,46,52,61,127,181,191,201],"$k$":[20,117,120,177],"agents":[21],"given":[24],"graph":[25],"$G$,":[26],"where":[27],"each":[28],"agent":[29],"seeks":[30],"path":[32,64],"from":[33],"its":[34],"source":[35],"vertex":[36],"to":[37,116],"target.":[39],"An":[40],"important":[41],"measure":[42],"quality":[45],"solution":[48],"is":[49,112,121,187,197],"length":[51,60],"proposed":[54],"schedule":[55],"$\\ell$,":[56],"that":[57,110],"is,":[58],"longest":[63],"(including":[65],"waiting":[67],"time).":[68],"this":[70,93],"work,":[71],"propose":[73],"systematic":[75],"study":[76],"under":[77],"parameterized":[79],"complexity":[80],"framework.":[81],"The":[82,131,184],"hardness":[83],"results":[84],"provide":[86],"align":[87],"with":[88,114,123],"many":[89],"heuristics":[90],"used":[91],"problem,":[94],"whose":[95],"running":[96],"time":[97],"could":[98],"potentially":[99],"be":[100],"improved":[101],"based":[102],"our":[104],"fixed-parameter":[105],"tractability":[106],"results.":[107],"We":[108,170],"show":[109,154],"MAPF":[111,185],"W[1]-hard":[113,188],"respect":[115],"(even":[118],"if":[119,139],"combined":[122],"maximum":[125,141],"degree":[126,142],"input":[129],"graph).":[130],"remains":[133],"NP-hard":[134],"in":[135],"planar":[136],"graphs":[137],"even":[138],"and":[143],"makespan$\\ell$":[145],"are":[146],"fixed":[147],"constants.":[148],"On":[149],"positive":[151],"side,":[152],"an":[155,172],"FPT":[156,173,198],"algorithm":[157,174],"$k+\\ell$.":[159],"As":[160],"delve":[162],"further,":[163],"structure":[165],"of~$G$":[166],"comes":[167],"into":[168],"play.":[169],"give":[171],"parameter":[176],"plus":[178,193,203],"diameter":[180],"graph~$G$.":[183],"cliquewidth":[190],"$G$":[192,202],"$\\ell$":[194],"while":[195],"it":[196],"treewidth":[200],"$\\ell$.":[204]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
