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 "Finding optimal solutions to cooperative pathfinding problems"):
  Abstract: In cooperative pathfinding problems, non-interfering paths that bring each agent from its current state to its goal state must be planned for multiple agents. We present the first practical, admissible, and complete algorithm for solving problems of this kind. First, we propose a technique called operator decomposition, which can be used to reduce the branching factors of many search algorithms, including algorithms for cooperative pathfinding. We then show how a type of independence common in instances of cooperative pathfinding problems can be exploited. Next, we take the idea of exploiting independent subproblems further by adding improvements that allow the algorithm to recognize many more cases of such independence. Finally, we show empirically that these techniques drastically improve the performance of the standard admissible algorithm for the cooperative pathfinding problem, and that their combination results in a complete algorithm capable of optimally solving relatively large problems in milliseconds.

Includes members:
  Member "PSPACE-completeness of sliding-block puzzles and other problems through the nondeterministic constraint logic model of computation":
    also connected through other hyperedges:
      - Hyperedge HE-1 (induced by source paper "Limits of Rush Hour Logic Complexity")
  Member "MAPP: a scalable multi-agent path planning algorithm with tractability and completeness guarantees":
    also connected through other hyperedges:
      - Hyperedge HE-2 (induced by source paper "Simple Direct Propositional Encoding of Cooperative Path Finding Simplified Yet More")

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