TY - GEN
T1 - The increasing cost tree search for optimal multi-agent pathfinding
AU - Sharon, Guni
AU - Stern, Roni
AU - Goldenberg, Meir
AU - Felner, Ariel
PY - 2011/12/1
Y1 - 2011/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84868299262&partnerID=8YFLogxK
U2 - 10.5591/978-1-57735-516-8/IJCAI11-117
DO - 10.5591/978-1-57735-516-8/IJCAI11-117
M3 - Conference contribution
AN - SCOPUS:84868299262
SN - 9781577355120
T3 - IJCAI International Joint Conference on Artificial Intelligence
SP - 662
EP - 667
BT - IJCAI 2011 - 22nd International Joint Conference on Artificial Intelligence
T2 - 22nd International Joint Conference on Artificial Intelligence, IJCAI 2011
Y2 - 16 July 2011 through 22 July 2011
ER -