Eran, CihanKeskin, Mehmet OnurCantürk, FurkanAydoğan, Reyhan2023-05-232023-05-232021978-303082253-80302-9743http://hdl.handle.net/10679/8322https://doi.org/10.1007/978-3-030-82254-5_16This paper introduces a negotiation approach to solve the Multi-Agent Path Finding problem. The approach aims to achieve a good trade-off between the privacy of the agents and the effectiveness of solutions. Accordingly, a token-based bilateral negotiation protocol and a compatible negotiation strategy are presented. The proposed approach is evaluated in a variety of scenarios by comparing it with state-of-the-art centralized approaches such as Conflict Based Search and its variant. The experimental results showed that the proposed approach can find conflict-free path solutions with a higher success rate, especially when the search space is large and high-density compared to centralized approaches while the gap between path cost differences is reasonably low. The proposed approach enables agents to have their autonomy; thus, it is convenient for MAPF problems involving self-interested agents.engrestrictedAccessconferenceObject12802 LNAI26428000106142330001610.1007/978-3-030-82254-5_16Decentralized coordinationMulti-agent path findingNegotiationSelf-interested agents2-s2.0-85113328047