ICBS: The Improved Conflict-Based Search Algorithm for Multi-Agent Pathfinding.

Eli Boyarski, Ariel Felner, Roni Stern, Guni Sharon, Oded Betzalel, David Tolpin, Solomon Eyal Shimony

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


Conflict-Based Search (CBS) and its enhancements, Meta-Agent CBS and bypassing conflicts are amongst the strongest newly introduced algorithms for Multi-Agent
Path Finding. This paper introduces two new improvements to CBS and incorporates them into a coherent, improved version of CBS, namely ICBS. Experimental results show that each of these improvements further reduces the runtime over the existing CBS-based approaches. When all improvements are combined, an even
larger improvement is achieved, producing state-of-the
art results for a number of domains.
Original languageEnglish
Title of host publicationSOCS
Number of pages3
StatePublished - 2015

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