Robust Reservation-Based Multi-Agent Routing

In a multi-agent routing problem, agents must find the shortest-time path from source to destination while avoiding deadlocks and colli-sions with other agents. Agents travel over an infrastructure of re-sources (such as intersections and road segments between intersec-tions), and each resource r has (i) a capacity C(r), which is the max-imum number of agents that may occupy the resource at the same time, and (ii) a minimum travel time D(r). Example 1 illustrates this multi-agent routing problem. r1 r2 r3 r4 r5 r6 r7 r8 r