Abstract
Conflict-Based Search (CBS) is a leading two-level algorithm for optimal Multi-Agent Path Finding (MAPF). At the high level, CBS expands nodes by resolving conflicts. Recently, admissible heuristics were added to the high level of CBS. We enhance all known heuristic functions for CBS by using information about the cost of resolving certain conflicts, with only a small computational overhead. We experimentally demonstrate that the improved heuristics contribute to making CBS even more efficient.
Original language | English |
---|---|
Title of host publication | 14th International Symposium on Combinatorial Search, SoCS 2021 |
Editors | Hang Ma, Ivan Serina |
Publisher | Association for the Advancement of Artificial Intelligence |
Pages | 213-215 |
Number of pages | 3 |
ISBN (Electronic) | 9781713834557 |
State | Published - 2021 |
Externally published | Yes |
Event | 14th International Symposium on Combinatorial Search, SoCS 2021 - Guangzhou, Virtual, China Duration: 26 Jul 2021 → 30 Jul 2021 |
Publication series
Name | 14th International Symposium on Combinatorial Search, SoCS 2021 |
---|
Conference
Conference | 14th International Symposium on Combinatorial Search, SoCS 2021 |
---|---|
Country/Territory | China |
City | Guangzhou, Virtual |
Period | 26/07/21 → 30/07/21 |
Bibliographical note
Publisher Copyright:Copyright © 2021, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.