TY - GEN
T1 - Conflict-based search for optimal multi-agent path finding
AU - Sharon, Guni
AU - Stern, Roni
AU - Felner, Ariel
AU - Sturtevant, Nathan
PY - 2012/11/7
Y1 - 2012/11/7
N2 - In the multi agent path finding problem (MAPF) paths should be found for several agents, each with a different start and goal position such that agents do not collide. Previous optimal solvers applied global A*-based searches. We present a new search algorithm called Conflict Based Search (CBS). CBS is a two-level algorithm. At the high level, a search is performed on a tree based on conflicts between agents. At the low level, a search is performed only for a single agent at a time. In many cases this reformulation enables CBS to examine fewer states than A* while still maintaining optimality. We analyze CBS and show its benefits and drawbacks. Experimental results on various problems shows a speedup of up to a full order of magnitude over previous approaches.
AB - In the multi agent path finding problem (MAPF) paths should be found for several agents, each with a different start and goal position such that agents do not collide. Previous optimal solvers applied global A*-based searches. We present a new search algorithm called Conflict Based Search (CBS). CBS is a two-level algorithm. At the high level, a search is performed on a tree based on conflicts between agents. At the low level, a search is performed only for a single agent at a time. In many cases this reformulation enables CBS to examine fewer states than A* while still maintaining optimality. We analyze CBS and show its benefits and drawbacks. Experimental results on various problems shows a speedup of up to a full order of magnitude over previous approaches.
UR - http://www.scopus.com/inward/record.url?scp=84868295201&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84868295201
SN - 9781577355687
T3 - Proceedings of the National Conference on Artificial Intelligence
SP - 563
EP - 569
BT - AAAI-12 / IAAI-12 - Proceedings of the 26th AAAI Conference on Artificial Intelligence and the 24th Innovative Applications of Artificial Intelligence Conference
T2 - 26th AAAI Conference on Artificial Intelligence and the 24th Innovative Applications of Artificial Intelligence Conference, AAAI-12 / IAAI-12
Y2 - 22 July 2012 through 26 July 2012
ER -