Abstract
J. Li, E. Boyarski, A. Felner, H. Ma and S. Koenig. Improved Heuristics for Multi-Agent Path Finding with Conflict-Based Search: Preliminary Results [Abstract]. In Symposium on Combinatorial Search (SoCS), pages 182-183, 2019.Abstract: Conflict-Based Search (CBS) and its enhancements are among the strongest algorithms for Multi-Agent Path Finding. Recent work introduced an admissible heuristic to guide the high-level search of CBS. In this work, we introduce two new admissible heuristics by reasoning about the pairwise dependency between agents. Empirically, CBS with both new heuristics significantly improves the success rate over CBS with the recent heuristic and reduces the number of expanded nodes and runtime by up to a factor of 50.
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