An empirical comparison of the hardness of multi-agent path finding under the makespan and the sum of costs objectives

Pavel Surynek; Ariel Felner; Roni Stern; Eli Boyarski

An empirical comparison of the hardness of multi-agent path finding under the makespan and the sum of costs objectives

Pavel Surynek, Ariel Felner, Roni Stern, Eli Boyarski

Department of Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

29 Scopus citations

Abstract

In the multi-agent path finding (MAPF) the task is to find non-conflicting paths for multiple agents. Recently, existing makespan optimal SAT-based solvers for MAPF have been modified for the sum-of-costs objective. In this paper, we empirically compare the hardness of solving MAPF with SAT-based and search-based solvers under the makespan and the sum-of-costs objectives in a number of domains. The experimental evaluation shows that MAPF under the makespan objective is easier across all the tested solvers and domains.

Original language	English
Title of host publication	Proceedings of the 9th Annual Symposium on Combinatorial Search, SoCS 2016
Editors	Jorge A. Baier, Adi Botea
Publisher	AAAI press
Pages	145-146
Number of pages	2
ISBN (Electronic)	9781577357698
State	Published - 2016
Event	9th Annual Symposium on Combinatorial Search, SoCS 2016 - Tarrytown, United States Duration: 6 Jul 2016 → 8 Jul 2016

Publication series

Name	Proceedings of the 9th Annual Symposium on Combinatorial Search, SoCS 2016
Volume	2016-January

Conference

Conference	9th Annual Symposium on Combinatorial Search, SoCS 2016
Country/Territory	United States
City	Tarrytown
Period	6/07/16 → 8/07/16

Bibliographical note

Publisher Copyright:
Copyright © 2016, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.

Funding

This research was funded by the joint program for cooperation of the Israeli and Czech ministries of science.

Funders	Funder number
Israeli and Czech ministries of science

Cite this

Surynek, P., Felner, A., Stern, R., & Boyarski, E. (2016). An empirical comparison of the hardness of multi-agent path finding under the makespan and the sum of costs objectives. In J. A. Baier, & A. Botea (Eds.), Proceedings of the 9th Annual Symposium on Combinatorial Search, SoCS 2016 (pp. 145-146). (Proceedings of the 9th Annual Symposium on Combinatorial Search, SoCS 2016; Vol. 2016-January). AAAI press.

Surynek, Pavel ; Felner, Ariel ; Stern, Roni et al. / An empirical comparison of the hardness of multi-agent path finding under the makespan and the sum of costs objectives. Proceedings of the 9th Annual Symposium on Combinatorial Search, SoCS 2016. editor / Jorge A. Baier ; Adi Botea. AAAI press, 2016. pp. 145-146 (Proceedings of the 9th Annual Symposium on Combinatorial Search, SoCS 2016).

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title = "An empirical comparison of the hardness of multi-agent path finding under the makespan and the sum of costs objectives",

abstract = "In the multi-agent path finding (MAPF) the task is to find non-conflicting paths for multiple agents. Recently, existing makespan optimal SAT-based solvers for MAPF have been modified for the sum-of-costs objective. In this paper, we empirically compare the hardness of solving MAPF with SAT-based and search-based solvers under the makespan and the sum-of-costs objectives in a number of domains. The experimental evaluation shows that MAPF under the makespan objective is easier across all the tested solvers and domains.",

author = "Pavel Surynek and Ariel Felner and Roni Stern and Eli Boyarski",

note = "Publisher Copyright: Copyright {\textcopyright} 2016, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.; 9th Annual Symposium on Combinatorial Search, SoCS 2016 ; Conference date: 06-07-2016 Through 08-07-2016",

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Surynek, P, Felner, A, Stern, R & Boyarski, E 2016, An empirical comparison of the hardness of multi-agent path finding under the makespan and the sum of costs objectives. in JA Baier & A Botea (eds), Proceedings of the 9th Annual Symposium on Combinatorial Search, SoCS 2016. Proceedings of the 9th Annual Symposium on Combinatorial Search, SoCS 2016, vol. 2016-January, AAAI press, pp. 145-146, 9th Annual Symposium on Combinatorial Search, SoCS 2016, Tarrytown, United States, 6/07/16.

An empirical comparison of the hardness of multi-agent path finding under the makespan and the sum of costs objectives. / Surynek, Pavel; Felner, Ariel; Stern, Roni et al.
Proceedings of the 9th Annual Symposium on Combinatorial Search, SoCS 2016. ed. / Jorge A. Baier; Adi Botea. AAAI press, 2016. p. 145-146 (Proceedings of the 9th Annual Symposium on Combinatorial Search, SoCS 2016; Vol. 2016-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Surynek P, Felner A, Stern R, Boyarski E. An empirical comparison of the hardness of multi-agent path finding under the makespan and the sum of costs objectives. In Baier JA, Botea A, editors, Proceedings of the 9th Annual Symposium on Combinatorial Search, SoCS 2016. AAAI press. 2016. p. 145-146. (Proceedings of the 9th Annual Symposium on Combinatorial Search, SoCS 2016).

An empirical comparison of the hardness of multi-agent path finding under the makespan and the sum of costs objectives

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