problem: 𝑂( 𝐴 ⋅ 𝑉 !) * polynomial-time makespan-optimal algorithm exists! [Yu&LaValle WAFR-13] computable but take time (≥1min) fast sub-optimal solver is attractive *assuming |𝐸| = 𝑂(|𝑉|) MAPF benchmarks [Stern+ SOCS-19] 418x530 43,151 257x256 28,178 194x194 14,784 |𝑉|