I know this question is old, but since no answer has been selected I'm going to post my own and hope it helps someone else.

Depends on the situation of your map whether you can apply a simple A* algorithm, or use a collaborative A* algorithm. By the situation I mean: Can two agents occupy the same space at a given time? If the answer is yes, then a simple A* algorithm for each agent will do the thing. In the case the answer is no, the application of a collaborative path-finding algorithm could be helpful. After doing a little research, I found that this algorithm is a perfect example of how a collaborative algorithm works using A*, this could help as a starting point to apply a collaborative algorithm that could be later improved to fulfil your needs.

I know this question is old, but since no answer has been selected I'm going to post my own and hope it helps someone else.

Depends on the situation of your map whether you can apply a simple A* algorithm, or use a collaborative A* algorithm. By the situation I mean: Can two agents occupy the same space at a given time? If the answer is yes, then a simple A* algorithm for each agent will do the thing. In the case the answer is no, the application of a collaborative path-finding algorithm could be helpful. After doing a little research, I found that this algorithm is a perfect example of how a collaborative algorithm works using A*, this could help as a starting point to apply a collaborative algorithm that could be later improved to fulfil your needs.