An empirical comparison of the hardness of multi-agent path finding under the makespan and the sum of costs objectives

Pavel Surynek, Ariel Felner, Roni Stern, Eli Boyarski

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

12 Scopus citations

Abstract

In the multi-agent path finding (MAPF) the task is to find non-conflicting paths for multiple agents. Recently, existing makespan optimal SAT-based solvers for MAPF have been modified for the sum-of-costs objective. In this paper, we empirically compare the hardness of solving MAPF with SAT-based and search-based solvers under the makespan and the sum-of-costs objectives in a number of domains. The experimental evaluation shows that MAPF under the makespan objective is easier across all the tested solvers and domains.

Original languageEnglish
Title of host publicationProceedings of the 9th Annual Symposium on Combinatorial Search, SoCS 2016
EditorsJorge A. Baier, Adi Botea
PublisherAAAI press
Pages145-146
Number of pages2
ISBN (Electronic)9781577357698
StatePublished - 1 Jan 2016
Event9th Annual Symposium on Combinatorial Search, SoCS 2016 - Tarrytown, United States
Duration: 6 Jul 20168 Jul 2016

Publication series

NameProceedings of the 9th Annual Symposium on Combinatorial Search, SoCS 2016
Volume2016-January

Conference

Conference9th Annual Symposium on Combinatorial Search, SoCS 2016
Country/TerritoryUnited States
CityTarrytown
Period6/07/168/07/16

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