weights of the arcs are all equal to 1. Other works focus on eliminating the discrete time assumptions and that the duration of actions is exactly equal to one time step. Another assumption that does not reflect reality is that agents occupy exactly one cell of the environment in which they are: some studies have been conducted to overcome this hypothesis. It is interesting to note that the shape and geometry of agents may introduce new types of conflicts, since agents may crash with one another even if they are not completely overlapped. Applications MAPF can be applied in several real case scenarios: Automated warehouses: warehouse logistics represents the main industrial application of MAPF. It has been shown that automation in warehouses manages to increase the productivity level. Airport operations: MAPF algorithms can be employed in crowded airports to coordinate towing vehicles that transport aircraft. Being able to optimize this kind of problems provides also a benefit to the environment. Autonomous mobile service robots: service robots are automated agents that perform dangerous and repetitive tasks for humans in a non-industrial environment. Their main goal is to help human beings. Video games: the usefulness of MAPF in such settings can be found when the player has to move a team of agents in a congested video game environment. See also Multi-agent systems Multi-agent planning Pathfinding Shortest path problem Notes External links MAPF.info Multi-agent systems