Disjoint splitting for multi-agent path finding with conflict-based search

Jiaoyang Li; Daniel Harabor; Peter J. Stuckey; Ariel Felner; Hang Ma; Sven Koenig

doi:10.1609/icaps.v29i1.3487

Disjoint splitting for multi-agent path finding with conflict-based search

Jiaoyang Li
, Daniel Harabor
, Peter J. Stuckey
, Ariel Felner
, Hang Ma
, Sven Koenig

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

76 Scopus citations

Abstract

Multi-Agent Path Finding (MAPF) is the planning problem of finding collision-free paths for a team of agents. We focus on Conflict-Based Search (CBS), a two-level tree-search state-of-the-art MAPF algorithm. The standard splitting strategy used by CBS is not disjoint, i.e., when it splits a problem into two subproblems, some solutions are shared by both subproblems, which can create duplication of search effort. In this paper, we demonstrate how to improve CBS with disjoint splitting and how to modify the low-level search of CBS to take maximal advantage of it. Experiments show that disjoint splitting increases the success rates and speeds of CBS and its variants by up to 2 orders of magnitude.

Original language	English
Title of host publication	Proceedings of the 29th International Conference on Automated Planning and Scheduling, ICAPS 2019
Editors	J. Benton, Nir Lipovetzky, Eva Onaindia, David E. Smith, Siddharth Srivastava
Publisher	Association for the Advancement of Artificial Intelligence
Pages	279-283
Number of pages	5
ISBN (Electronic)	9781577358077
DOIs	https://doi.org/10.1609/icaps.v29i1.3487
State	Published - 2019
Externally published	Yes
Event	29th International Conference on Automated Planning and Scheduling, ICAPS 2019 - Berkeley, United States Duration: 11 Jul 2019 → 15 Jul 2019

Publication series

Name	Proceedings International Conference on Automated Planning and Scheduling, ICAPS
ISSN (Print)	2334-0835
ISSN (Electronic)	2334-0843

Conference

Conference	29th International Conference on Automated Planning and Scheduling, ICAPS 2019
Country/Territory	United States
City	Berkeley
Period	11/07/19 → 15/07/19

Bibliographical note

Publisher Copyright:
© 2019, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.

Funding

∗The research at the University of Southern California was supported by the National Science Foundation (NSF) under grant numbers 1409987, 1724392, 1817189 and 1837779 as well as a gift from Amazon. The research was also supported by the United States-Israel Binational Science Foundation (BSF) under grant number 2017692. Copyright ©c 2019, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved. The research at the University of Southern California was supported by the National Science Foundation (NSF) under grant numbers 1409987, 1724392, 1817189 and 1837779 as well as a gift from Amazon. The research was also supported by the United States-Israel Binational Science Foundation (BSF) under grant number 2017692.

Funders	Funder number
National Science Foundation	1409987, 1724392, 1837779, 1817189
Bonfils-Stanton Foundation	2017692
Bloom's Syndrome Foundation
United States-Israel Binational Science Foundation

Access to Document

10.1609/icaps.v29i1.3487

Cite this

Li, J., Harabor, D., Stuckey, P. J., Felner, A., Ma, H., & Koenig, S. (2019). Disjoint splitting for multi-agent path finding with conflict-based search. In J. Benton, N. Lipovetzky, E. Onaindia, D. E. Smith, & S. Srivastava (Eds.), Proceedings of the 29th International Conference on Automated Planning and Scheduling, ICAPS 2019 (pp. 279-283). (Proceedings International Conference on Automated Planning and Scheduling, ICAPS). Association for the Advancement of Artificial Intelligence. https://doi.org/10.1609/icaps.v29i1.3487

Li, Jiaoyang ; Harabor, Daniel ; Stuckey, Peter J. et al. / Disjoint splitting for multi-agent path finding with conflict-based search. Proceedings of the 29th International Conference on Automated Planning and Scheduling, ICAPS 2019. editor / J. Benton ; Nir Lipovetzky ; Eva Onaindia ; David E. Smith ; Siddharth Srivastava. Association for the Advancement of Artificial Intelligence, 2019. pp. 279-283 (Proceedings International Conference on Automated Planning and Scheduling, ICAPS).

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title = "Disjoint splitting for multi-agent path finding with conflict-based search",

abstract = "Multi-Agent Path Finding (MAPF) is the planning problem of finding collision-free paths for a team of agents. We focus on Conflict-Based Search (CBS), a two-level tree-search state-of-the-art MAPF algorithm. The standard splitting strategy used by CBS is not disjoint, i.e., when it splits a problem into two subproblems, some solutions are shared by both subproblems, which can create duplication of search effort. In this paper, we demonstrate how to improve CBS with disjoint splitting and how to modify the low-level search of CBS to take maximal advantage of it. Experiments show that disjoint splitting increases the success rates and speeds of CBS and its variants by up to 2 orders of magnitude.",

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Li, J, Harabor, D, Stuckey, PJ, Felner, A, Ma, H & Koenig, S 2019, Disjoint splitting for multi-agent path finding with conflict-based search. in J Benton, N Lipovetzky, E Onaindia, DE Smith & S Srivastava (eds), Proceedings of the 29th International Conference on Automated Planning and Scheduling, ICAPS 2019. Proceedings International Conference on Automated Planning and Scheduling, ICAPS, Association for the Advancement of Artificial Intelligence, pp. 279-283, 29th International Conference on Automated Planning and Scheduling, ICAPS 2019, Berkeley, United States, 11/07/19. https://doi.org/10.1609/icaps.v29i1.3487

Disjoint splitting for multi-agent path finding with conflict-based search. / Li, Jiaoyang; Harabor, Daniel; Stuckey, Peter J. et al.
Proceedings of the 29th International Conference on Automated Planning and Scheduling, ICAPS 2019. ed. / J. Benton; Nir Lipovetzky; Eva Onaindia; David E. Smith; Siddharth Srivastava. Association for the Advancement of Artificial Intelligence, 2019. p. 279-283 (Proceedings International Conference on Automated Planning and Scheduling, ICAPS).

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

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Li J, Harabor D, Stuckey PJ, Felner A, Ma H, Koenig S. Disjoint splitting for multi-agent path finding with conflict-based search. In Benton J, Lipovetzky N, Onaindia E, Smith DE, Srivastava S, editors, Proceedings of the 29th International Conference on Automated Planning and Scheduling, ICAPS 2019. Association for the Advancement of Artificial Intelligence. 2019. p. 279-283. (Proceedings International Conference on Automated Planning and Scheduling, ICAPS). doi: 10.1609/icaps.v29i1.3487

Disjoint splitting for multi-agent path finding with conflict-based search

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