Adding heuristics to conflict-based search for multi-agent path finding

Ariel Felner; Jiaoyang Li; Eli Boyarski; Hang Ma; Liron Cohen; T. K.Satish Kumar; Sven Koenig

Adding heuristics to conflict-based search for multi-agent path finding

Ariel Felner, Jiaoyang Li, Eli Boyarski, Hang Ma, Liron Cohen, T. K.Satish Kumar, Sven Koenig

Department of Software and Information Systems Engineering

Research output: Contribution to journal › Conference article › peer-review

122 Scopus citations

Abstract

Conflict-Based Search (CBS) and its enhancements are among the strongest algorithms for the multi-agent path-finding problem. However, existing variants of CBS do not use any heuristics that estimate future work. In this paper, we introduce different admissible heuristics for CBS by aggregating cardinal conflicts among agents. In our experiments, CBS with these heuristics outperforms previous state-of-the-art CBS variants by up to a factor of five.

Original language	English
Pages (from-to)	83-87
Number of pages	5
Journal	Proceedings International Conference on Automated Planning and Scheduling, ICAPS
Volume	2018-June
State	Published - 1 Jan 2018
Event	28th International Conference on Automated Planning and Scheduling, ICAPS 2018 - Delft, Netherlands Duration: 24 Jun 2018 → 29 Jun 2018

ASJC Scopus subject areas

Artificial Intelligence
Computer Science Applications
Information Systems and Management

Cite this

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title = "Adding heuristics to conflict-based search for multi-agent path finding",

abstract = "Conflict-Based Search (CBS) and its enhancements are among the strongest algorithms for the multi-agent path-finding problem. However, existing variants of CBS do not use any heuristics that estimate future work. In this paper, we introduce different admissible heuristics for CBS by aggregating cardinal conflicts among agents. In our experiments, CBS with these heuristics outperforms previous state-of-the-art CBS variants by up to a factor of five.",

author = "Ariel Felner and Jiaoyang Li and Eli Boyarski and Hang Ma and Liron Cohen and Kumar, {T. K.Satish} and Sven Koenig",

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AU - Felner, Ariel

AU - Li, Jiaoyang

AU - Boyarski, Eli

AU - Ma, Hang

AU - Cohen, Liron

AU - Kumar, T. K.Satish

AU - Koenig, Sven

PY - 2018/1/1

Y1 - 2018/1/1

N2 - Conflict-Based Search (CBS) and its enhancements are among the strongest algorithms for the multi-agent path-finding problem. However, existing variants of CBS do not use any heuristics that estimate future work. In this paper, we introduce different admissible heuristics for CBS by aggregating cardinal conflicts among agents. In our experiments, CBS with these heuristics outperforms previous state-of-the-art CBS variants by up to a factor of five.

AB - Conflict-Based Search (CBS) and its enhancements are among the strongest algorithms for the multi-agent path-finding problem. However, existing variants of CBS do not use any heuristics that estimate future work. In this paper, we introduce different admissible heuristics for CBS by aggregating cardinal conflicts among agents. In our experiments, CBS with these heuristics outperforms previous state-of-the-art CBS variants by up to a factor of five.

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M3 - Conference article

AN - SCOPUS:85054747429

SN - 2334-0835

VL - 2018-June

SP - 83

EP - 87

JO - Proceedings International Conference on Automated Planning and Scheduling, ICAPS

JF - Proceedings International Conference on Automated Planning and Scheduling, ICAPS

T2 - 28th International Conference on Automated Planning and Scheduling, ICAPS 2018

Y2 - 24 June 2018 through 29 June 2018

ER -

Adding heuristics to conflict-based search for multi-agent path finding

Abstract

ASJC Scopus subject areas

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