@inproceedings{9a60f4dbab8a496ba3ea720fbe10ffdb,
title = "Improved heuristics for multi-agent path finding with conflict-based search: Preliminary results",
abstract = "Conflict-Based Search (CBS) and its enhancements are among the strongest algorithms for Multi-Agent Path Finding. Recent work introduced an admissible heuristic to guide the high-level search of CBS. In this work, we introduce two new admissible heuristics by reasoning about the pairwise dependency between agents. Empirically, CBS with both new heuristics significantly improves the success rate over CBS with the recent heuristic and reduces the number of expanded nodes and runtime by up to a factor of 50.",
author = "Jiaoyang Li and Eli Boyarski and Ariel Felner and Hang Ma and Sven Koenig",
note = "Funding Information: This paper is a short version of (Li et al. 2019). The research at the University of Southern California was supported by the National Science Foundation (NSF) under grant numbers 1409987, 1724392, 1817189 and 1837779 as well as a gift from Amazon. The research was also supported by the United States-Israel Binational Science Foundation (BSF) under grant number 2017692. Funding Information: ∗This paper is a short version of (Li et al. 2019). The research at the University of Southern California was supported by the National Science Foundation (NSF) under grant numbers 1409987, 1724392, 1817189 and 1837779 as well as a gift from Amazon. The research was also supported by the United States-Israel Binational Science Foundation (BSF) under grant number 2017692. Copyright {\textcopyright}c 2019, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved. Publisher Copyright: Copyright {\textcopyright} 2019, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.; 12th International Symposium on Combinatorial Search, SoCS 2019 ; Conference date: 16-07-2019 Through 17-07-2019",
year = "2019",
month = jan,
day = "1",
language = "English",
series = "Proceedings of the 12th International Symposium on Combinatorial Search, SoCS 2019",
publisher = "AAAI press",
pages = "182--183",
editor = "Pavel Surynek and William Yeoh",
booktitle = "Proceedings of the 12th International Symposium on Combinatorial Search, SoCS 2019",
}