// Hacker Noon · 19 February 2026

A New Method for Decomposing MAPF Problems Into Solvable Subproblems

This article introduces a structured methodology for decomposing Multi-Agent Pathfinding (MAPF) instances into smaller, solvable subproblems. The process begins by identifying agent dependencies and forming clusters through relevance graphs. These clusters are iteratively bipartitioned using unavoid...

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