  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.
