TY - GEN
T1 - Improved heuristics for multi-agent path finding with conflict-based search
AU - Li, Jiaoyang
AU - Felner, Ariel
AU - Boyarski, Eli
AU - Ma, Hang
AU - Koenig, Sven
N1 - Funding Information:
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.
Publisher Copyright:
© 2019 International Joint Conferences on Artificial Intelligence. All rights reserved.
PY - 2019/1/1
Y1 - 2019/1/1
N2 - 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 prove the limitation of this heuristic, as it is based on cardinal conflicts only. We then introduce two new admissible heuristics by reasoning about the pairwise dependencies between agents. Empirically, CBS with either new heuristic 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.
AB - 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 prove the limitation of this heuristic, as it is based on cardinal conflicts only. We then introduce two new admissible heuristics by reasoning about the pairwise dependencies between agents. Empirically, CBS with either new heuristic 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.
UR - http://www.scopus.com/inward/record.url?scp=85074913464&partnerID=8YFLogxK
U2 - 10.24963/ijcai.2019/63
DO - 10.24963/ijcai.2019/63
M3 - Conference contribution
AN - SCOPUS:85074913464
T3 - IJCAI International Joint Conference on Artificial Intelligence
SP - 442
EP - 449
BT - Proceedings of the 28th International Joint Conference on Artificial Intelligence, IJCAI 2019
A2 - Kraus, Sarit
PB - International Joint Conferences on Artificial Intelligence
T2 - 28th International Joint Conference on Artificial Intelligence, IJCAI 2019
Y2 - 10 August 2019 through 16 August 2019
ER -