  In cooperative pathfinding problems, no-conflicts paths that bring several
agents from their start location to their destination need to be planned. This
problem can be efficiently solved by Multi-agent RRT*(MA-RRT*) algorithm, which
is still state-of-the-art in the field of coupled methods. However, the
implementation of this algorithm is hindered in systems with limited memory
because the number of nodes in the tree grows indefinitely as the paths get
optimized. This paper proposes an improved version of MA-RRT*, called
Multi-agent RRT* Fixed Node(MA-RRT*FN), which limits the number of nodes stored
in the tree by removing the weak nodes on the path which are not likely to
reach the goal. The results show that MA-RRT*FN performs close to MA-RRT* in
terms of scalability and solution quality while the memory required is much
lower and fixed.
