Improved heuristics for multi-agent path finding with conflict-based search

Jiaoyang Li; Ariel Felner; Eli Boyarski; Hang Ma; Sven Koenig

doi:10.24963/ijcai.2019/63

Improved heuristics for multi-agent path finding with conflict-based search

Jiaoyang Li
, Ariel Felner
, Eli Boyarski
, Hang Ma
, Sven Koenig

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

138 Scopus citations

Abstract

Conflict-Based Search (CBS) and its enhancements are among the strongest algorithms for Multi-Agent Path Finding. Recent work introduced an admissible heuristic to guide the high-level search of CBS. In this work, we prove the limitation of this heuristic, as it is based on cardinal conflicts only. We then introduce two new admissible heuristics by reasoning about the pairwise dependencies between agents. Empirically, CBS with either new heuristic significantly improves the success rate over CBS with the recent heuristic and reduces the number of expanded nodes and runtime by up to a factor of 50.

Original language	English
Title of host publication	Proceedings of the 28th International Joint Conference on Artificial Intelligence, IJCAI 2019
Editors	Sarit Kraus
Publisher	International Joint Conferences on Artificial Intelligence
Pages	442-449
Number of pages	8
ISBN (Electronic)	9780999241141
DOIs	https://doi.org/10.24963/ijcai.2019/63
State	Published - 2019
Externally published	Yes
Event	28th International Joint Conference on Artificial Intelligence, IJCAI 2019 - Macao, China Duration: 10 Aug 2019 → 16 Aug 2019

Publication series

Name	IJCAI International Joint Conference on Artificial Intelligence
Volume	2019-August
ISSN (Print)	1045-0823

Conference

Conference	28th International Joint Conference on Artificial Intelligence, IJCAI 2019
Country/Territory	China
City	Macao
Period	10/08/19 → 16/08/19

Bibliographical note

Publisher Copyright:
© 2019 International Joint Conferences on Artificial Intelligence. 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.

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

Access to Document

10.24963/ijcai.2019/63

Cite this

Li, J., Felner, A., Boyarski, E., Ma, H., & Koenig, S. (2019). Improved heuristics for multi-agent path finding with conflict-based search. In S. Kraus (Ed.), Proceedings of the 28th International Joint Conference on Artificial Intelligence, IJCAI 2019 (pp. 442-449). (IJCAI International Joint Conference on Artificial Intelligence; Vol. 2019-August). International Joint Conferences on Artificial Intelligence. https://doi.org/10.24963/ijcai.2019/63

Li, Jiaoyang ; Felner, Ariel ; Boyarski, Eli et al. / Improved heuristics for multi-agent path finding with conflict-based search. Proceedings of the 28th International Joint Conference on Artificial Intelligence, IJCAI 2019. editor / Sarit Kraus. International Joint Conferences on Artificial Intelligence, 2019. pp. 442-449 (IJCAI International Joint Conference on Artificial Intelligence).

@inproceedings{f567236f56fd48ea9dae60416564155c,

title = "Improved heuristics for multi-agent path finding with conflict-based search",

abstract = "Conflict-Based Search (CBS) and its enhancements are among the strongest algorithms for Multi-Agent Path Finding. Recent work introduced an admissible heuristic to guide the high-level search of CBS. In this work, we prove the limitation of this heuristic, as it is based on cardinal conflicts only. We then introduce two new admissible heuristics by reasoning about the pairwise dependencies between agents. Empirically, CBS with either new heuristic significantly improves the success rate over CBS with the recent heuristic and reduces the number of expanded nodes and runtime by up to a factor of 50.",

author = "Jiaoyang Li and Ariel Felner and Eli Boyarski and Hang Ma and Sven Koenig",

note = "Publisher Copyright: {\textcopyright} 2019 International Joint Conferences on Artificial Intelligence. All rights reserved.; 28th International Joint Conference on Artificial Intelligence, IJCAI 2019 ; Conference date: 10-08-2019 Through 16-08-2019",

year = "2019",

doi = "10.24963/ijcai.2019/63",

language = "אנגלית",

series = "IJCAI International Joint Conference on Artificial Intelligence",

publisher = "International Joint Conferences on Artificial Intelligence",

pages = "442--449",

editor = "Sarit Kraus",

booktitle = "Proceedings of the 28th International Joint Conference on Artificial Intelligence, IJCAI 2019",

}

Li, J, Felner, A, Boyarski, E, Ma, H & Koenig, S 2019, Improved heuristics for multi-agent path finding with conflict-based search. in S Kraus (ed.), Proceedings of the 28th International Joint Conference on Artificial Intelligence, IJCAI 2019. IJCAI International Joint Conference on Artificial Intelligence, vol. 2019-August, International Joint Conferences on Artificial Intelligence, pp. 442-449, 28th International Joint Conference on Artificial Intelligence, IJCAI 2019, Macao, China, 10/08/19. https://doi.org/10.24963/ijcai.2019/63

Improved heuristics for multi-agent path finding with conflict-based search. / Li, Jiaoyang; Felner, Ariel; Boyarski, Eli et al.
Proceedings of the 28th International Joint Conference on Artificial Intelligence, IJCAI 2019. ed. / Sarit Kraus. International Joint Conferences on Artificial Intelligence, 2019. p. 442-449 (IJCAI International Joint Conference on Artificial Intelligence; Vol. 2019-August).

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

TY - GEN

T1 - Improved heuristics for multi-agent path finding with conflict-based search

AU - Li, Jiaoyang

AU - Felner, Ariel

AU - Boyarski, Eli

AU - Ma, Hang

AU - Koenig, Sven

PY - 2019

Y1 - 2019

N2 - Conflict-Based Search (CBS) and its enhancements are among the strongest algorithms for Multi-Agent Path Finding. Recent work introduced an admissible heuristic to guide the high-level search of CBS. In this work, we prove the limitation of this heuristic, as it is based on cardinal conflicts only. We then introduce two new admissible heuristics by reasoning about the pairwise dependencies between agents. Empirically, CBS with either new heuristic significantly improves the success rate over CBS with the recent heuristic and reduces the number of expanded nodes and runtime by up to a factor of 50.

AB - Conflict-Based Search (CBS) and its enhancements are among the strongest algorithms for Multi-Agent Path Finding. Recent work introduced an admissible heuristic to guide the high-level search of CBS. In this work, we prove the limitation of this heuristic, as it is based on cardinal conflicts only. We then introduce two new admissible heuristics by reasoning about the pairwise dependencies between agents. Empirically, CBS with either new heuristic significantly improves the success rate over CBS with the recent heuristic and reduces the number of expanded nodes and runtime by up to a factor of 50.

UR - https://www.scopus.com/pages/publications/85074913464

U2 - 10.24963/ijcai.2019/63

DO - 10.24963/ijcai.2019/63

M3 - ???researchoutput.researchoutputtypes.contributiontobookanthology.conference???

AN - SCOPUS:85074913464

T3 - IJCAI International Joint Conference on Artificial Intelligence

SP - 442

EP - 449

BT - Proceedings of the 28th International Joint Conference on Artificial Intelligence, IJCAI 2019

A2 - Kraus, Sarit

PB - International Joint Conferences on Artificial Intelligence

T2 - 28th International Joint Conference on Artificial Intelligence, IJCAI 2019

Y2 - 10 August 2019 through 16 August 2019

ER -

Li J, Felner A, Boyarski E, Ma H, Koenig S. Improved heuristics for multi-agent path finding with conflict-based search. In Kraus S, editor, Proceedings of the 28th International Joint Conference on Artificial Intelligence, IJCAI 2019. International Joint Conferences on Artificial Intelligence. 2019. p. 442-449. (IJCAI International Joint Conference on Artificial Intelligence). doi: 10.24963/ijcai.2019/63

Improved heuristics for multi-agent path finding with conflict-based search

Abstract

Publication series

Conference

Bibliographical note

Funding

Access to Document

Other files and links

Fingerprint

Cite this