  Multi working-machines pathfinding solution enables more mobile machines
simultaneously to work inside of a working site so that the productivity can be
expected to increase evolutionary. To date, the potential cooperation conflicts
among construction machinery limit the amount of construction machinery
investment in a concrete working site. To solve the cooperation problem, civil
engineers optimize the working site from a logistic perspective while computer
scientists improve pathfinding algorithms' performance on the given benchmark
maps. In the practical implementation of a construction site, it is sensible to
solve the problem with a hybrid solution; therefore, in our study, we proposed
an algorithm based on a cutting-edge multi-pathfinding algorithm to enable the
massive number of machines cooperation and offer the advice to modify the
unreasonable part of the working site in the meantime. Using the logistic
information from BIM, such as unloading and loading point, we added a
pathfinding solution for multi machines to improve the whole construction
fleet's productivity. In the previous study, the experiments were limited to no
more than ten participants, and the computational time to gather the solution
was not given; thus, we publish our pseudo-code, our tested map, and benchmark
our results. Our algorithm's most extensive feature is that it can quickly
replan the path to overcome the emergency on a construction site.
