human: Given a node-centered hypergraph: <hypergraph>, where nodes represent authors and hyperedges represent groups of authors who co-authored the same paper.

Details of the hypergraph:
Center node: "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.

Connected through hyperedge HE-1 (induced by source paper "MAPP: a scalable multi-agent path planning algorithm with tractability and completeness guarantees"):
  with members:
    - "Finding optimal solutions to cooperative pathfinding problems"

Question: Please tell me which research area the center author belongs to. The 4 classes are: Computer science, Mathematics, Engineering, Economics, Psychology, Business. Directly output the class name.

gpt: Computer science