Conflict-based search for optimal multi-agent pathfinding
نویسندگان
چکیده
منابع مشابه
ICBS: Improved Conflict-Based Search Algorithm for Multi-Agent Pathfinding
Conflict-Based Search (CBS) and its enhancements, Meta-Agent CBS and bypassing conflicts are amongst the strongest newly introduced algorithms for Multi-Agent Path Finding. This paper introduces two new improvements to CBS and incorporates them into a coherent, improved version of CBS, namely ICBS. Experimental results show that each of these improvements further reduces the runtime over the ex...
متن کاملConflict-Based Search for Optimal Multi-Agent Path Finding
In the multi agent path finding problem (MAPF) paths should be found for several agents, each with a different start and goal position such that agents do not collide. Previous optimal solvers applied global A*-based searches. We present a new search algorithm called Conflict Based Search (CBS). CBS is a two-level algorithm. At the high level, a search is performed on a tree based on conflicts ...
متن کاملThe Increasing Cost Tree Search for Optimal Multi-Agent Pathfinding
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 optim...
متن کاملThe Increasing Cost Tree Search for Optimal Multi-agent Pathfinding
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 increasing cost tree (ICT) and a corresponding search algorithm that finds optimal s...
متن کاملOptimal Multi-Agent Pathfinding Algorithms
The multi-agent path finding (MAPF) problem is a generalization of the single-agent path finding problem for k > 1 agents. It consists of a graph and a number of agents. For each agent, a unique start state and a unique goal state are given, and the task is to find paths for all agents from their start states to their goal states, under the constraint that agents cannot collide during their mov...
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ژورنال
عنوان ژورنال: Artificial Intelligence
سال: 2015
ISSN: 0004-3702
DOI: 10.1016/j.artint.2014.11.006