Application of propositional satisfiability to special cases of cooperative path-planning

A problem of cooperative path-planning is addressed from the perspective of propositional satisfiability in this paper. Two new encodings of the problem as SAT are proposed and evaluated. Together with the existent solution optimization method which locally improves a sub-optimal solution of the problem through SAT solving, one of the new encodings constitute a state-of-the-art method for cooperative path-planning in highly occupied environments.