TY - GEN
T1 - Multi-agent pathfinding with continuous time
AU - Andreychuk, Anton
AU - Yakovlev, Konstantin
AU - Atzmon, Dor
AU - Sternr, Roni
N1 - Publisher Copyright:
© 2019 International Joint Conferences on Artificial Intelligence. All rights reserved.
PY - 2019/1/1
Y1 - 2019/1/1
N2 - Multi-Agent Pathfinding (MAPF) is the problem of finding paths for multiple agents such that every agent reaches its goal and the agents do not collide. Most prior work on MAPF was on grids, assumed agents' actions have uniform duration, and that time is discretized into timesteps. We propose a MAPF algorithm that does not rely on these assumptions, is complete, and provides provably optimal solutions. This algorithm is based on a novel adaptation of Safe interval path planning (SIPP), a continuous time single-agent planning algorithm, and a modified version of Conflict-based search (CBS), a state of the art multi-agent pathfinding algorithm. We analyze this algorithm, discuss its pros and cons, and evaluate it experimentally on several standard benchmarks.
AB - Multi-Agent Pathfinding (MAPF) is the problem of finding paths for multiple agents such that every agent reaches its goal and the agents do not collide. Most prior work on MAPF was on grids, assumed agents' actions have uniform duration, and that time is discretized into timesteps. We propose a MAPF algorithm that does not rely on these assumptions, is complete, and provides provably optimal solutions. This algorithm is based on a novel adaptation of Safe interval path planning (SIPP), a continuous time single-agent planning algorithm, and a modified version of Conflict-based search (CBS), a state of the art multi-agent pathfinding algorithm. We analyze this algorithm, discuss its pros and cons, and evaluate it experimentally on several standard benchmarks.
UR - https://www.scopus.com/pages/publications/85074909861
U2 - 10.24963/ijcai.2019/6
DO - 10.24963/ijcai.2019/6
M3 - Conference contribution
AN - SCOPUS:85074909861
T3 - IJCAI International Joint Conference on Artificial Intelligence
SP - 39
EP - 45
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 -