Clique Analysis and Bypassing in Continuous-Time Conflict-Based Search

Thayne T. Walker, Nathan R. Sturtevant, Ariel Felner

Research output: Contribution to journalConference articlepeer-review

Abstract

We study symmetry-breaking enhancements for Continuous-Time Conflict-Based Search (CCBS), a solver for continuous-time MAPF. Resolving conflict symmetries in MAPF can require an exponential amount of work. We adapt known symmetry-breaking enhancements from unit-cost domains for CCBS. We then improve upon these to produce a new state of the art algorithm: CCBS with disjoint k-partite cliques (CCBS+DK). Finally, we show empirically that CCBS+DK solves for up to 20% more agents in the same amount of time when compared to previous state of the art.

Original languageEnglish
Pages (from-to)2540-2542
Number of pages3
JournalProceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS
Volume2024-May
StatePublished - 2024
Externally publishedYes
Event23rd International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2024 - Auckland, New Zealand
Duration: 6 May 202410 May 2024

Bibliographical note

Publisher Copyright:
© 2024 International Foundation for Autonomous Agents and Multiagent Systems.

Keywords

  • Heuristic Search
  • Multi-Agent Pathfinding

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