The increasing cost tree search for optimal multi-agent pathfinding

Guni Sharon, Roni Stern, Meir Goldenberg, Ariel Felner

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

43 Scopus citations

Abstract

We address the problem of optimal path finding for multiple agents where agents must not collide and their total travel cost should be minimized. Previous work used traditional single-agent search variants of the A* algorithm. We present a novel formalization for this problem which includes a search tree called the increasing cost tree (ICT) and a corresponding search algorithm that finds optimal solutions. We analyze this new formalization and compare it to the previous state-of-the-art A*-based approach. Experimental results on various domains show the benefits and drawbacks of this approach. A speedup of up to 3 orders of magnitude was obtained in a number of cases.

Original languageEnglish
Title of host publicationIJCAI 2011 - 22nd International Joint Conference on Artificial Intelligence
Pages662-667
Number of pages6
DOIs
StatePublished - 1 Dec 2011
Event22nd International Joint Conference on Artificial Intelligence, IJCAI 2011 - Barcelona, Catalonia, Spain
Duration: 16 Jul 201122 Jul 2011

Publication series

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

Conference

Conference22nd International Joint Conference on Artificial Intelligence, IJCAI 2011
Country/TerritorySpain
CityBarcelona, Catalonia
Period16/07/1122/07/11

ASJC Scopus subject areas

  • Artificial Intelligence

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