Don't split, try to work it out: Bypassing conflicts in multi-agent pathfinding

Eli Boyarski; Ariel Feiner; Guni Sharon; Roni Stern

doi:10.1609/icaps.v25i1.13725

Don't split, try to work it out: Bypassing conflicts in multi-agent pathfinding

Eli Boyarski, Ariel Feiner, Guni Sharon, Roni Stern

Department of Computer Science

Ben-Gurion University of the Negev

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

52 Scopus citations

Abstract

Conflict-Based Search (CBS) is a recently introduced algorithm for Multi-Agent Path Finding (MAPF) whose runtime is exponential in the number of conflicts found between the agents' paths. We present an improved version of CBS that bypasses conflicts thereby reducing the CBS search tree. Experimental results show that this improvement reduces the runtime by an order of magnitude in many cases.

Original language	English
Title of host publication	ICAPS 2015 - Proceedings of the 25th International Conference on Automated Planning and Scheduling
Editors	Ronen Brafman, Carmel Domshlak, Patrik Haslum, Shlomo Zilberstein
Publisher	Association for the Advancement of Artificial Intelligence
Pages	47-51
Number of pages	5
ISBN (Electronic)	9781577357315
DOIs	https://doi.org/10.1609/icaps.v25i1.13725
State	Published - 2015
Event	25th International Conference on Automated Planning and Scheduling, ICAPS 2015 - Jerusalem, Israel Duration: 7 Jun 2015 → 11 Jun 2015

Publication series

Name	Proceedings International Conference on Automated Planning and Scheduling, ICAPS
Volume	2015-January
ISSN (Print)	2334-0835
ISSN (Electronic)	2334-0843

Conference

Conference	25th International Conference on Automated Planning and Scheduling, ICAPS 2015
Country/Territory	Israel
City	Jerusalem
Period	7/06/15 → 11/06/15

Bibliographical note

Publisher Copyright:
Copyright © 2015, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.

Access to Document

10.1609/icaps.v25i1.13725

Cite this

Boyarski, E., Feiner, A., Sharon, G., & Stern, R. (2015). Don't split, try to work it out: Bypassing conflicts in multi-agent pathfinding. In R. Brafman, C. Domshlak, P. Haslum, & S. Zilberstein (Eds.), ICAPS 2015 - Proceedings of the 25th International Conference on Automated Planning and Scheduling (pp. 47-51). (Proceedings International Conference on Automated Planning and Scheduling, ICAPS; Vol. 2015-January). Association for the Advancement of Artificial Intelligence. https://doi.org/10.1609/icaps.v25i1.13725

Boyarski, Eli ; Feiner, Ariel ; Sharon, Guni et al. / Don't split, try to work it out : Bypassing conflicts in multi-agent pathfinding. ICAPS 2015 - Proceedings of the 25th International Conference on Automated Planning and Scheduling. editor / Ronen Brafman ; Carmel Domshlak ; Patrik Haslum ; Shlomo Zilberstein. Association for the Advancement of Artificial Intelligence, 2015. pp. 47-51 (Proceedings International Conference on Automated Planning and Scheduling, ICAPS).

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title = "Don't split, try to work it out: Bypassing conflicts in multi-agent pathfinding",

abstract = "Conflict-Based Search (CBS) is a recently introduced algorithm for Multi-Agent Path Finding (MAPF) whose runtime is exponential in the number of conflicts found between the agents' paths. We present an improved version of CBS that bypasses conflicts thereby reducing the CBS search tree. Experimental results show that this improvement reduces the runtime by an order of magnitude in many cases.",

author = "Eli Boyarski and Ariel Feiner and Guni Sharon and Roni Stern",

note = "Publisher Copyright: Copyright {\textcopyright} 2015, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.; 25th International Conference on Automated Planning and Scheduling, ICAPS 2015 ; Conference date: 07-06-2015 Through 11-06-2015",

year = "2015",

doi = "10.1609/icaps.v25i1.13725",

language = "אנגלית",

series = "Proceedings International Conference on Automated Planning and Scheduling, ICAPS",

publisher = "Association for the Advancement of Artificial Intelligence",

pages = "47--51",

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Boyarski, E, Feiner, A, Sharon, G & Stern, R 2015, Don't split, try to work it out: Bypassing conflicts in multi-agent pathfinding. in R Brafman, C Domshlak, P Haslum & S Zilberstein (eds), ICAPS 2015 - Proceedings of the 25th International Conference on Automated Planning and Scheduling. Proceedings International Conference on Automated Planning and Scheduling, ICAPS, vol. 2015-January, Association for the Advancement of Artificial Intelligence, pp. 47-51, 25th International Conference on Automated Planning and Scheduling, ICAPS 2015, Jerusalem, Israel, 7/06/15. https://doi.org/10.1609/icaps.v25i1.13725

Don't split, try to work it out: Bypassing conflicts in multi-agent pathfinding. / Boyarski, Eli; Feiner, Ariel; Sharon, Guni et al.
ICAPS 2015 - Proceedings of the 25th International Conference on Automated Planning and Scheduling. ed. / Ronen Brafman; Carmel Domshlak; Patrik Haslum; Shlomo Zilberstein. Association for the Advancement of Artificial Intelligence, 2015. p. 47-51 (Proceedings International Conference on Automated Planning and Scheduling, ICAPS; Vol. 2015-January).

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

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Boyarski E, Feiner A, Sharon G, Stern R. Don't split, try to work it out: Bypassing conflicts in multi-agent pathfinding. In Brafman R, Domshlak C, Haslum P, Zilberstein S, editors, ICAPS 2015 - Proceedings of the 25th International Conference on Automated Planning and Scheduling. Association for the Advancement of Artificial Intelligence. 2015. p. 47-51. (Proceedings International Conference on Automated Planning and Scheduling, ICAPS). doi: 10.1609/icaps.v25i1.13725

Don't split, try to work it out: Bypassing conflicts in multi-agent pathfinding

Abstract

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