Multi-Agent Pathfinding with Non-Unit Integer Edge Costs via Enhanced Conflict-Based Search and Graph Discretization

ArXi:2604.05416v1 Announce Type: new Multi-Agent Pathfinding (MAPF) plays a critical role in various domains. Traditional MAPF methods typically assume unit edge costs and single-timestep actions, which limit their applicability to real-world scenarios. MAPFR extends MAPF to handle non-unit costs with real-valued edge costs and continuous-time actions, but its geometric collision model leads to an unbounded state space that compromises solver efficiency.