Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Cooperative Pathfinding based on Multi-agent RRT* Fixed Node   In cooperative pathfinding problems, non-conflict paths that bring several
agents from their start location to their destination need to be planned. This
problem can be efficiently solved by Multi-agent RRT*(MA-RRT*) algorithm, which
is still state-of-the-art in the field of coupled methods. However, the
implementation of this algorithm is hindered in systems with limited memory
because the number of nodes in the tree of RRT* grows indefinitely as the paths
get optimized. This paper proposes an improved version of MA-RRT*, called
Multi-agent RRT* Fixed Node(MA-RRT*FN), which limits the number of nodes stored
in the tree of RRT* by removing the weak nodes on the path which are not likely
to reach the goal. The results show that MA-RRT*FN performs close to MA-RRT* in
terms of scalability and solution quality while the memory required is much
lower and fixed.

15
The categories of this paper are: nucl-ex
28
The categories of this paper are: alg-geom
18
The categories of this paper are: econ
25
The categories of this paper are: patt-sol
22
The categories of this paper are: chao-dyn
12
The categories of this paper are: nucl-th
21
The categories of this paper are: adap-org
29
The categories of this paper are: funct-an
7
The categories of this paper are: hep-th
23
The categories of this paper are: solv-int
8
The categories of this paper are: hep-ex
2
The categories of this paper are: math
26
The categories of this paper are: bayes-an
34
The categories of this paper are: chem-ph
16
The categories of this paper are: stat
6
The categories of this paper are: astro-ph