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In multi-agent path finding (MAPF) the task is to find non-conflicting pathsfor multiple agents. In this paper we focus on finding suboptimal solutions forMAPF for the sum-of-costs variant. Recently, a SAT-based approached wasdeveloped to solve this problem and proved beneficial in many cases whencompared to other search-based solvers. In this paper, we present SAT-basedunbounded- and bounded-suboptimal algorithms and compare them to relevantalgorithms. Experimental results show that in many case the SAT-based solversignificantly outperforms the search-based solvers.

Modifying Optimal SAT-based Approach to Multi-agent Path-finding Problem to Suboptimal Variants