Shadoks Approach to Low-Makespan Coordinated Motion Planning

This article describes the heuristics used by Shadoks 1 team for CG:SHOP 2021 challenge. year’s problem is to coordinate motion of multiple robots in order reach their targets without collisions and minimizing makespan. It a classical multi-agent path finding with specificity that instances are highly dense an unbounded grid. Using outlined this article, our won first place best solution 202 out 203 optimal solutions at least 105 them. The main ingredients include several different strategies compute initial coupled heuristic called Conflict Optimizer reduce makespan existing solutions.