Conflict-based search for optimal multi-agent path finding

Guni Sharon; Roni Stern; Ariel Felner; Nathan Sturtevant

Conflict-based search for optimal multi-agent path finding

Guni Sharon, Roni Stern, Ariel Felner, Nathan Sturtevant

Department of Software and Information Systems Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

17 Scopus citations

Abstract

We present a new two-level search algorithm for optimal multi-agent path finding called Conflict Based Search (CBS). 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. Experimental results on various problems shows a speedup of up to a full order of magnitude over previous approaches.

Original language	English
Title of host publication	Proceedings of the 5th Annual Symposium on Combinatorial Search, SoCS 2012
Pages	190
Number of pages	1
State	Published - 1 Dec 2012
Event	5th International Symposium on Combinatorial Search, SoCS 2012 - Niagara Falls, ON, Canada Duration: 19 Jul 2012 → 21 Jul 2012

Publication series

Name	Proceedings of the 5th Annual Symposium on Combinatorial Search, SoCS 2012

Conference

Conference	5th International Symposium on Combinatorial Search, SoCS 2012
Country/Territory	Canada
City	Niagara Falls, ON
Period	19/07/12 → 21/07/12

ASJC Scopus subject areas

Computer Networks and Communications

Cite this

@inproceedings{8cdce36b4aae414ab9048f7bfb837893,

title = "Conflict-based search for optimal multi-agent path finding",

abstract = "We present a new two-level search algorithm for optimal multi-agent path finding called Conflict Based Search (CBS). 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. Experimental results on various problems shows a speedup of up to a full order of magnitude over previous approaches.",

author = "Guni Sharon and Roni Stern and Ariel Felner and Nathan Sturtevant",

year = "2012",

month = dec,

day = "1",

language = "English",

isbn = "9781577355847",

series = "Proceedings of the 5th Annual Symposium on Combinatorial Search, SoCS 2012",

pages = "190",

booktitle = "Proceedings of the 5th Annual Symposium on Combinatorial Search, SoCS 2012",

note = "5th International Symposium on Combinatorial Search, SoCS 2012 ; Conference date: 19-07-2012 Through 21-07-2012",

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Sharon, G, Stern, R , Felner, A & Sturtevant, N 2012, Conflict-based search for optimal multi-agent path finding. in Proceedings of the 5th Annual Symposium on Combinatorial Search, SoCS 2012. Proceedings of the 5th Annual Symposium on Combinatorial Search, SoCS 2012, pp. 190, 5th International Symposium on Combinatorial Search, SoCS 2012, Niagara Falls, ON, Canada, 19/07/12.

Conflict-based search for optimal multi-agent path finding. / Sharon, Guni; Stern, Roni ; Felner, Ariel et al.
Proceedings of the 5th Annual Symposium on Combinatorial Search, SoCS 2012. 2012. p. 190 (Proceedings of the 5th Annual Symposium on Combinatorial Search, SoCS 2012).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Stern, Roni

AU - Felner, Ariel

AU - Sturtevant, Nathan

PY - 2012/12/1

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N2 - We present a new two-level search algorithm for optimal multi-agent path finding called Conflict Based Search (CBS). 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. Experimental results on various problems shows a speedup of up to a full order of magnitude over previous approaches.

AB - We present a new two-level search algorithm for optimal multi-agent path finding called Conflict Based Search (CBS). 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. Experimental results on various problems shows a speedup of up to a full order of magnitude over previous approaches.

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M3 - Conference contribution

AN - SCOPUS:84893343362

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T3 - Proceedings of the 5th Annual Symposium on Combinatorial Search, SoCS 2012

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BT - Proceedings of the 5th Annual Symposium on Combinatorial Search, SoCS 2012

T2 - 5th International Symposium on Combinatorial Search, SoCS 2012

Y2 - 19 July 2012 through 21 July 2012

ER -

Conflict-based search for optimal multi-agent path finding

Abstract

Publication series

Conference

ASJC Scopus subject areas

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