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

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

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

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

Department of Software and Information Systems Engineering

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

59 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 language	English
Title of host publication	Proceedings of the 29th International Conference on Automated Planning and Scheduling, ICAPS 2019
Editors	J. Benton, Nir Lipovetzky, Eva Onaindia, David E. Smith, Siddharth Srivastava
Publisher	AAAI press
Pages	279-283
Number of pages	5
ISBN (Electronic)	9781577358077
State	Published - 1 Jan 2019
Event	29th International Conference on Automated Planning and Scheduling, ICAPS 2019 - Berkeley, United States Duration: 11 Jul 2019 → 15 Jul 2019

Publication series

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

Conference

Conference	29th International Conference on Automated Planning and Scheduling, ICAPS 2019
Country/Territory	United States
City	Berkeley
Period	11/07/19 → 15/07/19

ASJC Scopus subject areas

Artificial Intelligence
Computer Science Applications
Information Systems and Management

Cite this

Li, J., Harabor, D., Stuckey, P. J., Felner, A., Ma, H., & Koenig, S. (2019). Disjoint splitting for multi-agent path finding with conflict-based search. In J. Benton, N. Lipovetzky, E. Onaindia, D. E. Smith, & S. Srivastava (Eds.), Proceedings of the 29th International Conference on Automated Planning and Scheduling, ICAPS 2019 (pp. 279-283). (Proceedings International Conference on Automated Planning and Scheduling, ICAPS). AAAI press.

Li, Jiaoyang ; Harabor, Daniel ; Stuckey, Peter J. et al. / Disjoint splitting for multi-agent path finding with conflict-based search. Proceedings of the 29th International Conference on Automated Planning and Scheduling, ICAPS 2019. editor / J. Benton ; Nir Lipovetzky ; Eva Onaindia ; David E. Smith ; Siddharth Srivastava. AAAI press, 2019. pp. 279-283 (Proceedings International Conference on Automated Planning and Scheduling, ICAPS).

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title = "Disjoint splitting for multi-agent path finding with conflict-based search",

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.",

author = "Jiaoyang Li and Daniel Harabor and Stuckey, {Peter J.} and Ariel Felner and Hang Ma and Sven Koenig",

note = "Publisher Copyright: {\textcopyright} 2019, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.; 29th International Conference on Automated Planning and Scheduling, ICAPS 2019 ; Conference date: 11-07-2019 Through 15-07-2019",

year = "2019",

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language = "English",

series = "Proceedings International Conference on Automated Planning and Scheduling, ICAPS",

publisher = "AAAI press",

pages = "279--283",

editor = "J. Benton and Nir Lipovetzky and Eva Onaindia and Smith, {David E.} and Siddharth Srivastava",

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Li, J, Harabor, D, Stuckey, PJ, Felner, A, Ma, H & Koenig, S 2019, Disjoint splitting for multi-agent path finding with conflict-based search. in J Benton, N Lipovetzky, E Onaindia, DE Smith & S Srivastava (eds), Proceedings of the 29th International Conference on Automated Planning and Scheduling, ICAPS 2019. Proceedings International Conference on Automated Planning and Scheduling, ICAPS, AAAI press, pp. 279-283, 29th International Conference on Automated Planning and Scheduling, ICAPS 2019, Berkeley, United States, 11/07/19.

Disjoint splitting for multi-agent path finding with conflict-based search. / Li, Jiaoyang; Harabor, Daniel; Stuckey, Peter J. et al.
Proceedings of the 29th International Conference on Automated Planning and Scheduling, ICAPS 2019. ed. / J. Benton; Nir Lipovetzky; Eva Onaindia; David E. Smith; Siddharth Srivastava. AAAI press, 2019. p. 279-283 (Proceedings International Conference on Automated Planning and Scheduling, ICAPS).

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

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AU - Harabor, Daniel

AU - Stuckey, Peter J.

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AU - Ma, Hang

AU - Koenig, Sven

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AB - 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.

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BT - Proceedings of the 29th International Conference on Automated Planning and Scheduling, ICAPS 2019

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Li J, Harabor D, Stuckey PJ, Felner A, Ma H, Koenig S. Disjoint splitting for multi-agent path finding with conflict-based search. In Benton J, Lipovetzky N, Onaindia E, Smith DE, Srivastava S, editors, Proceedings of the 29th International Conference on Automated Planning and Scheduling, ICAPS 2019. AAAI press. 2019. p. 279-283. (Proceedings International Conference on Automated Planning and Scheduling, ICAPS).

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

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