Improved conflict-based search for optimal multi-agent path finding

E Boyarski, A Felner, R Stern, G Sharon, E Shimony, O Bezalel, D Tolpin

Research output: Contribution to journalConference articlepeer-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 GB
Number of pages7
StatePublished - 2015

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