Improved heuristics for multi-agent path finding with conflict-based search: Preliminary results

Jiaoyang Li, Eli Boyarski, Ariel Felner, Hang Ma, Sven Koenig

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

2 Scopus citations

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.

Original languageEnglish
Title of host publicationProceedings of the 12th International Symposium on Combinatorial Search, SoCS 2019
EditorsPavel Surynek, William Yeoh
PublisherAAAI press
Pages182-183
Number of pages2
ISBN (Electronic)9781577358084
StatePublished - 1 Jan 2019
Event12th International Symposium on Combinatorial Search, SoCS 2019 - Napa, United States
Duration: 16 Jul 201917 Jul 2019

Publication series

NameProceedings of the 12th International Symposium on Combinatorial Search, SoCS 2019

Conference

Conference12th International Symposium on Combinatorial Search, SoCS 2019
Country/TerritoryUnited States
CityNapa
Period16/07/1917/07/19

ASJC Scopus subject areas

  • Computer Networks and Communications

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