Extended increasing cost tree search for non-unit cost domains

Thayne T. Walker, Nathan R. Sturtevant, Ariel Felner

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

29 Scopus citations

Abstract

Multi-agent pathfinding (MAPF) has applications in navigation, robotics, games and planning. Most work on search-based optimal algorithms for MAPF has focused on simple domains with unit cost actions and unit time steps. Although these constraints keep many aspects of the algorithms simple, they also severely limit the domains that can be used. In this paper we introduce a new definition of the MAPF problem for non-unit cost and non-unit time step domains along with new multi-agent state successor generation schemes for these domains. Finally, we define an extended version of the increasing cost tree search algorithm (ICTS) for non-unit costs, with two new sub-optimal variants of ICTS: -ICTS and w-ICTS. Our experiments show that higher quality sub-optimal solutions are achievable in domains with finely discretized movement models in no more time than lower-quality, optimal solutions in domains with coarsely discretized movement models.

Original languageEnglish
Title of host publicationProceedings of the 27th International Joint Conference on Artificial Intelligence, IJCAI 2018
EditorsJerome Lang
PublisherInternational Joint Conferences on Artificial Intelligence
Pages534-540
Number of pages7
ISBN (Electronic)9780999241127
DOIs
StatePublished - 1 Jan 2018
Event27th International Joint Conference on Artificial Intelligence, IJCAI 2018 - Stockholm, Sweden
Duration: 13 Jul 201819 Jul 2018

Publication series

NameIJCAI International Joint Conference on Artificial Intelligence
Volume2018-July
ISSN (Print)1045-0823

Conference

Conference27th International Joint Conference on Artificial Intelligence, IJCAI 2018
Country/TerritorySweden
CityStockholm
Period13/07/1819/07/18

ASJC Scopus subject areas

  • Artificial Intelligence

Fingerprint

Dive into the research topics of 'Extended increasing cost tree search for non-unit cost domains'. Together they form a unique fingerprint.

Cite this