Unassigned Agents in Compilation-based Multi-agent Path Finding

The paper introduces a new variant of multi-agent path finding (MAPF) called UA-MAPF, which includes unassigned agents that must be maneuvered to avoid collisions with standard agents, despite not having specific goals. The authors demonstrate that UA-MAPF can be effectively addressed using compilation-based techniques, specifically adapting SMT-CBS and NRF-SAT solvers, which leverage Boolean satisfiability formulations and counterexample guided abstraction refinement. This advancement is significant for practitioners as it enhances the modularity and adaptability of MAPF solutions, allowing for more complex scenarios involving agents with varying requirements.