# Multi-Agent Pathfinding with Continuous Time

## TL;DR

This paper introduces a novel multi-agent pathfinding algorithm that operates in continuous time without discretization, combining Safe Interval Path Planning and Conflict-Based Search to achieve completeness and optimality.

## Contribution

It presents a new MAPF algorithm that removes grid and timestep assumptions, integrating continuous-time SIPP with CBS for improved accuracy and optimality.

## Key findings

- Algorithm is complete and provably optimal.
- Performs well on standard benchmarks.
- Avoids discretization limitations of prior methods.

## Abstract

Multi-Agent Pathfinding (MAPF) is the problem of finding paths for multiple agents such that every agent reaches its goal and the agents do not collide. Most prior work on MAPF was on grids, assumed agents' actions have uniform duration, and that time is discretized into timesteps. We propose a MAPF algorithm that does not rely on these assumptions, is complete, and provides provably optimal solutions. This algorithm is based on a novel adaptation of Safe interval path planning (SIPP), a continuous time single-agent planning algorithm, and a modified version of Conflict-based search (CBS), a state of the art multi-agent pathfinding algorithm. We analyze this algorithm, discuss its pros and cons, and evaluate it experimentally on several standard benchmarks.