Conflict-based search for optimal multi-agent path finding

Guni Sharon, Roni Stern, Ariel Felner, Nathan Sturtevant

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

13 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 languageEnglish
Title of host publicationProceedings of the 5th Annual Symposium on Combinatorial Search, SoCS 2012
Pages190
Number of pages1
StatePublished - 1 Dec 2012
Event5th International Symposium on Combinatorial Search, SoCS 2012 - Niagara Falls, ON, Canada
Duration: 19 Jul 201221 Jul 2012

Publication series

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

Conference

Conference5th International Symposium on Combinatorial Search, SoCS 2012
Country/TerritoryCanada
CityNiagara Falls, ON
Period19/07/1221/07/12

ASJC Scopus subject areas

  • Computer Networks and Communications

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