@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 = "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",
}