human: Given a hyperedge-centered hypergraph: <hypergraph>, where the center hyperedge groups authors who co-authored the same paper.

Details of the hypergraph:
Center hyperedge (induced by source paper "Simple Direct Propositional Encoding of Cooperative Path Finding Simplified Yet More"):
  Abstract: This paper addresses makespan optimal solving of cooperative pathfinding problem (CPF) by translating it to propositional satisfiability (SAT). The task in CPF is to relocate a set of agents to given goal locations so that they do not collide with each other. Recent findings indicate that a simple direct encoding outperforms the more elaborate encodings based on binary encodings of multi-value state variables. The direct encoding is further improved by a hierarchical build-up that uses auxiliary variables to reduce its size in this work. The conducted experimental evaluation shown that the simple design of the encoding together with new improvements which reduced its size significantly are key enablers for faster solving of the encoded CPFs than with existing encodings. It has been also shown that the SAT based methods dominates over A* based methods in environments with high occupancy by agents.

Includes members:
  Member "MAPP: a scalable multi-agent path planning algorithm with tractability and completeness guarantees":
    also connected through other hyperedges:
      - Hyperedge HE-1 (induced by source paper "Finding optimal solutions to cooperative pathfinding problems")

Question: Please tell me which research area the co-authored paper (i.e., the source paper of the center hyperedge) belongs to. The 4 classes are: Computer science, Mathematics, Engineering, Economics, Psychology, Business. Directly output the class name.

gpt: Computer science