This paper studies a novel planning problem for multiple agents that cannot share holding resources, named OTIMAPP (Offline Time-Independent Multi-Agent Path Planning). Given a graph and a set of start-goal pairs, the problem consists in assigning a path to each agent such that every agent eventually reaches their goal without blocking each other, regardless of how the agents are being scheduled at runtime. The motivation stems from the nature of distributed environments that agents take actions fully asynchronous and have no knowledge about those exact timings of other actors. We present solution conditions, computational complexity, solvers, and robotic applications.

翻译：本文研究了一种新的多智能体规划问题，智能体之间无法共享持有资源，称为OTIMAPP（离线时间无关多智能体路径规划）。给定一张图及一组起点-终点对，该问题旨在为每个智能体分配一条路径，使得所有智能体最终都能到达目标且互不阻塞，无论运行时智能体如何调度。研究动机源于分布式环境的特点：智能体完全异步执行动作，且无法获知其他执行体的精确时间信息。我们提出了解的存在条件、计算复杂度、求解方法及机器人应用。