This paper introduces a new method of planning paths for crowds, applicable to environments described by a graph. The main idea is to group members of the crowd by their common initial and target positions and then plan the path for one member of each group. If the crowd can be divided into a few groups this way, the proposed approach save a huge amount of computational and memory demands in dynamic environments.
Szkandera, J., Kolingerová, I., & Maňák, M. (2017). Path Planning for Groups on Graphs. In Procedia Computer Science (Vol. 108, pp. 2338–2342). Elsevier B.V. https://doi.org/10.1016/j.procs.2017.05.040