@inproceedings{d24b49f8c62e4fd2b1e400154ab3fc1d,
title = "Further Improved Heuristics for Conflict-Based Search",
abstract = "Conflict-Based Search (CBS) is a leading two-level algorithm for optimal Multi-Agent Path Finding (MAPF). At the high level, CBS expands nodes by resolving conflicts. Recently, admissible heuristics were added to the high level of CBS. We enhance all known heuristic functions for CBS by using information about the cost of resolving certain conflicts, with only a small computational overhead. We experimentally demonstrate that the improved heuristics contribute to making CBS even more efficient.",
author = "Eli Boyarski and Ariel Felner and \{Le Bodic\}, Pierre and Daniel Harabor and Stuckey, \{Peter J.\} and Sven Koenig",
note = "Publisher Copyright: Copyright {\textcopyright} 2021, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.; 14th International Symposium on Combinatorial Search, SoCS 2021 ; Conference date: 26-07-2021 Through 30-07-2021",
year = "2021",
month = jan,
day = "1",
language = "English",
series = "14th International Symposium on Combinatorial Search, SoCS 2021",
publisher = "Association for the Advancement of Artificial Intelligence",
pages = "213--215",
editor = "Hang Ma and Ivan Serina",
booktitle = "14th International Symposium on Combinatorial Search, SoCS 2021",
}