A* variants for optimal multi-agent pathfinding

Meir Goldenberg, Ariel Felner, Roni Stern, Guni Sharon, Jonathan Schaeffer

Research output: Contribution to conferencePaperpeer-review

4 Scopus citations


Several variants of A* have been recently proposed for finding optimal solutions for the multi-agent pathfinding (MAPF) problem. However, these variants have not been deeply compared either quantitatively or qualitatively. In this paper we aim to fill this gap. In addition to obtaining a deeper understanding of the existing algorithms, we describe in detail the application of the new enhanced partial-expansion technique to MAPF and show how pattern databases can be applied on top of this technique.

Original languageEnglish
Number of pages7
StatePublished - 1 Dec 2012
Event2012 AAAI Workshop - Toronto, ON, Canada
Duration: 22 Jul 201222 Jul 2012


Conference2012 AAAI Workshop
CityToronto, ON

ASJC Scopus subject areas

  • Engineering (all)

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