Integration of independence detection into SAT-based optimal multi-agent path finding a novel SAT-based optimal MAPF solver

Pavel Surynek, Jiří Švancara, Ariel Felner, Eli Boyarski

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

3 Scopus citations

Abstract

The problem of optimal multi-agent path finding (MAPF) is addressed in this paper. The task is to find optimal paths for mobile agents where each of them need to reach a unique goal position from the given start with respect to the given cost function. Agents must not collide with each other which is a source of combinatorial difficulty of the problem. An abstraction of the problem where discrete agents move in an undirected graph is usually adopted in the literature. Specifically, it is shown in this paper how to integrate independence detection (ID) technique developed for search based MAPF solving into a compilation-based technique that translates the instance of the MAPF problem into propositional satisfiability formalism (SAT). The independence detection technique allows decomposition of the instance consisting of a given number of agents into instances consisting of small groups of agents with no interaction across groups. These small instances can be solved independently and the solution of the original instance is combined from small solutions eventually. The reduction of the size of instances translated to the target SAT formalism has a significant impact on performance as shown in the presented experimental evaluation. The new solver integrating SAT translation and the independence detection is shown to be state-of-the-art in its class for optimal MAPF solving.

Original languageEnglish
Title of host publicationICAART 2017 - Proceedings of the 9th International Conference on Agents and Artificial Intelligence
EditorsJaap van den Herik, Ana Paula Rocha, Joaquim Filipe, Joaquim Filipe
PublisherSciTePress
Pages85-95
Number of pages11
ISBN (Electronic)9789897582202
DOIs
StatePublished - 1 Jan 2017
Event9th International Conference on Agents and Artificial Intelligence, ICAART 2017 - Porto, Portugal
Duration: 24 Feb 201726 Feb 2017

Publication series

NameICAART 2017 - Proceedings of the 9th International Conference on Agents and Artificial Intelligence
Volume2

Conference

Conference9th International Conference on Agents and Artificial Intelligence, ICAART 2017
Country/TerritoryPortugal
CityPorto
Period24/02/1726/02/17

Keywords

  • Cost Optimality
  • Independence Detection (ID)
  • Makespan Optimality
  • Multi-Agent Path-Finding (MAPF)
  • Path-Finding on Grids
  • Propositional Satisfiability (SAT)
  • SAT Encodings
  • Sum-of-costs Optimality

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