  Multi-agent pathfinding (MAPF) is a challenging problem which is hard to
solve optimally even when simplifying assumptions are adopted, e.g. planar
graphs (typically -- grids), discretized time, uniform duration of move and
wait actions etc. On the other hand, MAPF under such restrictive assumptions
(also known as the Classical MAPF) is equivalent to the so-called pebble motion
problem for which non-optimal polynomial time algorithms do exist. Recently, a
body of works emerged that investigated MAPF beyond the basic setting and, in
particular, considered agents of arbitrary size and shape. Still, to the best
of our knowledge no complete algorithms for such MAPF variant exists. In this
work we attempt to narrow this gap by considering MAPF for large agents and
suggesting how this problem can be reduced to pebble motion on (general)
graphs. The crux of this reduction is the procedure that moves away the agents
away from the edge which is needed to perform a move action of the current
agent. We consider different variants of how this procedure can be implemented
and present a variant of the pebble motion algorithm which incorporates this
procedure. Unfortunately, the algorithm is still incomplete, but empirically we
show that it is able to solve much more MAPF instances (under the strict time
limit) with large agents on arbitrary non-planar graphs (roadmaps) compared to
the state-of-the-art MAPF solver -- Continous Conflict-Based Search (CCBS).
