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Abstract² This paper addresses a problem of cooperative path finding (CPF) where the task is to find paths for agents of a group of agents. Each agent is given a starting and a goal position and its task is to reach the goal from the given start. When following the paths, agents must not collide with each other and must avoid obstacles. It is suggested to augment propositional encodings of CPF with a so called mutex reasoning. Mutex reasoning is trying to rule out unreachable situations todoi:10.1109/iros.2013.6696977 dblp:conf/iros/Surynek13 fatcat:3g42p36a7rhn3howk56m6vd22m