applications. However, existing MAPF solvers are deterministic and perform poorly on MAPF
instances where many agents interfere with each other in a small region of space. In this
paper, we enhance MAPF solvers with randomization and observe that their runtimes can
exhibit heavy-tailed distributions. This insight leads us to develop simple Rapid Randomized
Restart (RRR) strategies with the intuition that multiple short runs will have a better chance …