Abstract
We study symmetry-breaking enhancements for Continuous-Time Conflict-Based Search (CCBS), a solver for continuous-time MAPF. Resolving conflict symmetries in MAPF can require an exponential amount of work. We adapt known symmetry-breaking enhancements from unit-cost domains for CCBS. We then improve upon these to produce a new state of the art algorithm: CCBS with disjoint k-partite cliques (CCBS+DK). Finally, we show empirically that CCBS+DK solves for up to 20% more agents in the same amount of time when compared to previous state of the art.
| Original language | English |
|---|---|
| Pages (from-to) | 2540-2542 |
| Number of pages | 3 |
| Journal | Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS |
| Volume | 2024-May |
| State | Published - 1 Jan 2024 |
| Event | 23rd International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2024 - Auckland, New Zealand Duration: 6 May 2024 → 10 May 2024 |
Keywords
- Heuristic Search
- Multi-Agent Pathfinding
ASJC Scopus subject areas
- Artificial Intelligence
- Software
- Control and Systems Engineering