Abstract
P. Surynek, J. Li, H. Zhang, S. Kumar and S. Koenig. Mutex Propagation for SAT-Based Multi-Agent Path Finding. In International Conference on Principles and Practice of Multi-Agent Systems (PRIMA), 2020.Abstract: Multi-agent path finding (MAPF) is the problem of planning a set of non-colliding paths for a set of agents so that each agent reaches its individual goal location following its path. A mutex from classical planning is a constraint forbidding a pair of facts to be both true or a pair of actions to be executed simultaneously. In the context of MAPF, mutexes are used to rule out the simultaneous occurrence of a pair of agents in a pair of locations, which can prune the search space. Previously mutex propagation had been integrated into conflict-based search (CBS), a major search-based approach for solving MAPF optimally. In this paper, we introduce mutex propagation into the compilation-based (SAT-based) solver MDD-SAT, an alternative to search-based solvers. Our experiments show that, despite mutex propagation being computationally expensive, it prunes the search space significantly so that the overall performance of MDD-SAT is improved.
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.