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We propose a novel complete algorithm for multi-agent pathfinding (MAPF)called lazy constraints addition search for MAPF (LaCAM). MAPF is a problem offinding collision-free paths for multiple agents on graphs and is thefoundation of multi-robot coordination. LaCAM uses a two-level search to findsolutions quickly, even with hundreds of agents or more. At the low-level, itsearches constraints about agents' locations. At the high-level, it searches asequence of all agents' locations, following the constraints specified by thelow-level. Our exhaustive experiments reveal that LaCAM is comparable to oroutperforms state-of-the-art sub-optimal MAPF algorithms in a variety ofscenarios, regarding success rate, planning time, and solution quality ofsum-of-costs.

LaCAM: Search-Based Algorithm for Quick Multi-Agent Pathfinding