AbstractJ. Li, A. Felner, E. Boyarski, H. Ma and S. Koenig. Improved Heuristics for Multi-Agent Path Finding with Conflict-Based Search. In Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), pages 442-449, 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 prove the limitation of this heuristic, as it is based on cardinal conflicts only. We then introduce two new admissible heuristics by reasoning about the pairwise dependencies between agents. Empirically, CBS with either new heuristic 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.
Download the paper in pdf.
Many publishers do not want authors to make their papers available electronically after the papers have been published. Please use the electronic versions provided here only if hardcopies are not yet available. If you have comments on any of these papers, please send me an email! Also, please send me your papers if we have common interests.
This page was automatically created by a bibliography maintenance system that was developed as part of an undergraduate research project, advised by Sven Koenig.