Variants of independence detection in SAT-based optimal multi-agent path finding

Pavel Surynek, Jiří Švancara, Ariel Felner, Eli Boyarski

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

1 Scopus citations


In multi-agent path finding (MAPF) on graphs, the task is to find paths for distinguishable agents so that each agent reaches its unique goal vertex from the given start while collisions between agents are forbidden. A cumulative objective function is often minimized in MAPF. The main contribution of this paper consists in integrating independence detection technique (ID) into a compilation-based MAPF solver that translates MAPF instances into propositional satisfiability (SAT). The independence detection technique in search-based solvers tries to decompose a given MAPF instance into instances consisting of small groups of agents with no interaction across groups. After the decomposition phase, small instances are solved independently and the solution of the original instance is combined from individual solutions to small instances. The presented experimental evaluation indicates significant reduction of the size of instances translated to the target SAT formalism and positive impact on the overall performance of the solver.

Original languageEnglish
Title of host publicationAgents and Artificial Intelligence - 9th International Conference, ICAART 2017, Revised Selected Papers
EditorsJoaquim Filipe, Jaap van den Herik, Ana Paula Rocha
PublisherSpringer Verlag
Number of pages21
ISBN (Print)9783319935805
StatePublished - 1 Jan 2018
Event9th International Conference on Agents and Artificial Intelligence, ICAART 2017 - Porto, Portugal
Duration: 24 Feb 201726 Feb 2017

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10839 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference9th International Conference on Agents and Artificial Intelligence, ICAART 2017


  • 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

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science (all)


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