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In cooperative pathfinding problems, non-conflict paths that bring severalagents from their start location to their destination need to be planned. Thisproblem can be efficiently solved by Multi-agent RRT*(MA-RRT*) algorithm, whichis still state-of-the-art in the field of coupled methods. However, theimplementation of this algorithm is hindered in systems with limited memorybecause the number of nodes in the tree of RRT* grows indefinitely as the pathsget optimized. This paper proposes an improved version of MA-RRT*, calledMulti-agent RRT* Fixed Node(MA-RRT*FN), which limits the number of nodes storedin the tree of RRT* by removing the weak nodes on the path which are not likelyto reach the goal. The results show that MA-RRT*FN performs close to MA-RRT* interms of scalability and solution quality while the memory required is muchlower and fixed.

Cooperative Pathfinding based on Multi-agent RRT* Fixed Node