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Divide and Collapse: MAPF-Collapse via Exact Decomposition into Independent Sub-Instances
In this work we study the problem of MAPFC, a post-optimization step for Multi-Agent Path Finding (MAPF) plans where we are given a feasible plan produced by a modern MAPF solver and are tasked with removing avoidable moves while preserving feasibility. This NP-hard problem naturally arises when usi
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