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

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

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

34 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 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.

Original languageEnglish
Title of host publicationProceedings of the 28th International Joint Conference on Artificial Intelligence, IJCAI 2019
EditorsSarit Kraus
PublisherInternational Joint Conferences on Artificial Intelligence
Pages442-449
Number of pages8
ISBN (Electronic)9780999241141
DOIs
StatePublished - 1 Jan 2019
Event28th International Joint Conference on Artificial Intelligence, IJCAI 2019 - Macao, China
Duration: 10 Aug 201916 Aug 2019

Publication series

NameIJCAI International Joint Conference on Artificial Intelligence
Volume2019-August
ISSN (Print)1045-0823

Conference

Conference28th International Joint Conference on Artificial Intelligence, IJCAI 2019
Country/TerritoryChina
CityMacao
Period10/08/1916/08/19

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