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\section{Reducing MAPF to Combinatorial Auctions} the Bundling Problem}  Different BP solvers provide different gurentees, e.g. social whelfer, truthfulness, [[More...]]. Solving MAPF using a BP solver provides these guarntees for MAPF.  MAPF can be reduced to BP as follows.  The items item set $M$,  in the corresponding combinatorial auction BP  are pairs the catisien product  of all  time steps  and location. all vertices $V$.  Bundles are paths. Utility is UpperBound*k minus path cost..