The multi-agent path finding (MAPF) problem is a combinatorial search problem that aims at finding paths for multiple agents (e.g., robots) in an environment (e.g., an autonomous warehouse) such that no two agents collide with each other, and subject to some constraints on the lengths of paths. The real-world applications of MAPF require flexibility (e.g., solving variations of MAPF) as well as explainability. In this study, both of these challenges are addressed and some flexible and explainable solutions for MAPF and its variants are introduced.

翻译：多试剂路径发现(MAPF)问题是一个组合式的搜索问题,目的是在环境(如自主仓库)中找到多种物剂(如机器人)的路径,这样就不会有两种物剂相互碰撞,并受到路径长度的某些限制。MAPF的实际应用需要灵活性(如解决MAPF的变异)和解释性。在本研究中,这两项挑战都得到了解决,并为MAPF及其变体引入了一些灵活和可解释的解决办法。