Disjoint splitting for multi-agent path finding with conflict-based search

Jiaoyang Li, Daniel Harabor, Peter J. Stuckey, Ariel Felner, Hang Ma, Sven Koenig

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

30 Scopus citations

Abstract

Multi-Agent Path Finding (MAPF) is the planning problem of finding collision-free paths for a team of agents. We focus on Conflict-Based Search (CBS), a two-level tree-search state-of-the-art MAPF algorithm. The standard splitting strategy used by CBS is not disjoint, i.e., when it splits a problem into two subproblems, some solutions are shared by both subproblems, which can create duplication of search effort. In this paper, we demonstrate how to improve CBS with disjoint splitting and how to modify the low-level search of CBS to take maximal advantage of it. Experiments show that disjoint splitting increases the success rates and speeds of CBS and its variants by up to 2 orders of magnitude.

Original languageEnglish
Title of host publicationProceedings of the 29th International Conference on Automated Planning and Scheduling, ICAPS 2019
EditorsJ. Benton, Nir Lipovetzky, Eva Onaindia, David E. Smith, Siddharth Srivastava
PublisherAAAI press
Pages279-283
Number of pages5
ISBN (Electronic)9781577358077
StatePublished - 1 Jan 2019
Event29th International Conference on Automated Planning and Scheduling, ICAPS 2019 - Berkeley, United States
Duration: 11 Jul 201915 Jul 2019

Publication series

NameProceedings International Conference on Automated Planning and Scheduling, ICAPS
ISSN (Print)2334-0835
ISSN (Electronic)2334-0843

Conference

Conference29th International Conference on Automated Planning and Scheduling, ICAPS 2019
Country/TerritoryUnited States
CityBerkeley
Period11/07/1915/07/19

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Information Systems and Management

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