Abstract
Conflict-Based Search (CBS) and its enhancements are among the strongest algorithms for the multi-agent path-finding problem. However, existing variants of CBS do not use any heuristics that estimate future work. In this paper, we introduce different admissible heuristics for CBS by aggregating cardinal conflicts among agents. In our experiments, CBS with these heuristics outperforms previous state-of-the-art CBS variants by up to a factor of five.
| Original language | English |
|---|---|
| Pages (from-to) | 83-87 |
| Number of pages | 5 |
| Journal | Proceedings International Conference on Automated Planning and Scheduling, ICAPS |
| Volume | 2018-June |
| State | Published - 2018 |
| Externally published | Yes |
| Event | 28th International Conference on Automated Planning and Scheduling, ICAPS 2018 - Delft, Netherlands Duration: 24 Jun 2018 → 29 Jun 2018 |
Bibliographical note
Funding Information:The research at Ben-Gurion University was supported by the Israel Ministry of Science and the Czech Ministry of Education and by Israel Science Foundation grant 844/17. The research at the University of Southern California was supported by National Science Foundation grants 1724392, 1409987 and 1319966. The views and conclusions contained in this document are those of the authors and should not be interpreted as representing the official policies, either expressed or implied, of the sponsoring organizations, agencies or the U.S. government.
Publisher Copyright:
Copyright © 2018, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.