Multi-agent path finding with deadlines

Hang Ma; Glenn Wagner; Ariel Felner; Jiaoyang Li; T. K. Satish Kumar; Sven Koenig

doi:10.24963/ijcai.2018/58

Multi-agent path finding with deadlines

Hang Ma, Glenn Wagner, Ariel Felner, Jiaoyang Li, T. K. Satish Kumar, Sven Koenig

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

39 Scopus citations

Abstract

We formalize Multi-Agent Path Finding with Deadlines (MAPF-DL). The objective is to maximize the number of agents that can reach their given goal vertices from their given start vertices within the deadline, without colliding with each other. We first show that MAPF-DL is NP-hard to solve optimally. We then present two classes of optimal algorithms, one based on a reduction of MAPF-DL to a flow problem and a subsequent compact integer linear programming formulation of the resulting reduced abstracted multi-commodity flow network and the other one based on novel combinatorial search algorithms. Our empirical results demonstrate that these MAPF-DL solvers scale well and each one dominates the other ones in different scenarios.

Original language	English
Title of host publication	Proceedings of the 27th International Joint Conference on Artificial Intelligence, IJCAI 2018
Editors	Jerome Lang
Publisher	International Joint Conferences on Artificial Intelligence
Pages	417-423
Number of pages	7
ISBN (Electronic)	9780999241127
DOIs	https://doi.org/10.24963/ijcai.2018/58
State	Published - 2018
Externally published	Yes
Event	27th International Joint Conference on Artificial Intelligence, IJCAI 2018 - Stockholm, Sweden Duration: 13 Jul 2018 → 19 Jul 2018

Publication series

Name	IJCAI International Joint Conference on Artificial Intelligence
Volume	2018-July
ISSN (Print)	1045-0823

Conference

Conference	27th International Joint Conference on Artificial Intelligence, IJCAI 2018
Country/Territory	Sweden
City	Stockholm
Period	13/07/18 → 19/07/18

Bibliographical note

Publisher Copyright:
© 2018 International Joint Conferences on Artificial Intelligence. All right reserved.

Funding

∗The research at the University of Southern California was supported by the National Science Foundation (NSF) under grant numbers 1724392, 1409987, and 1319966 as well as a gift from Amazon. The research at Ben-Gurion University was supported by Israel Science Foundation under grant number 844/17 and the Israel Ministry of Science.

Funders	Funder number
National Science Foundation
Directorate for Computer and Information Science and Engineering	1409987, 1724392, 1319966
Israel Science Foundation	844/17
Ministry of science and technology, Israel

Access to Document

10.24963/ijcai.2018/58

Cite this

Ma, H., Wagner, G., Felner, A., Li, J., Satish Kumar, T. K., & Koenig, S. (2018). Multi-agent path finding with deadlines. In J. Lang (Ed.), Proceedings of the 27th International Joint Conference on Artificial Intelligence, IJCAI 2018 (pp. 417-423). (IJCAI International Joint Conference on Artificial Intelligence; Vol. 2018-July). International Joint Conferences on Artificial Intelligence. https://doi.org/10.24963/ijcai.2018/58

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title = "Multi-agent path finding with deadlines",

abstract = "We formalize Multi-Agent Path Finding with Deadlines (MAPF-DL). The objective is to maximize the number of agents that can reach their given goal vertices from their given start vertices within the deadline, without colliding with each other. We first show that MAPF-DL is NP-hard to solve optimally. We then present two classes of optimal algorithms, one based on a reduction of MAPF-DL to a flow problem and a subsequent compact integer linear programming formulation of the resulting reduced abstracted multi-commodity flow network and the other one based on novel combinatorial search algorithms. Our empirical results demonstrate that these MAPF-DL solvers scale well and each one dominates the other ones in different scenarios.",

author = "Hang Ma and Glenn Wagner and Ariel Felner and Jiaoyang Li and {Satish Kumar}, {T. K.} and Sven Koenig",

note = "Publisher Copyright: {\textcopyright} 2018 International Joint Conferences on Artificial Intelligence. All right reserved.; 27th International Joint Conference on Artificial Intelligence, IJCAI 2018 ; Conference date: 13-07-2018 Through 19-07-2018",

year = "2018",

doi = "10.24963/ijcai.2018/58",

language = "אנגלית",

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

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Ma, H, Wagner, G, Felner, A, Li, J, Satish Kumar, TK & Koenig, S 2018, Multi-agent path finding with deadlines. in J Lang (ed.), Proceedings of the 27th International Joint Conference on Artificial Intelligence, IJCAI 2018. IJCAI International Joint Conference on Artificial Intelligence, vol. 2018-July, International Joint Conferences on Artificial Intelligence, pp. 417-423, 27th International Joint Conference on Artificial Intelligence, IJCAI 2018, Stockholm, Sweden, 13/07/18. https://doi.org/10.24963/ijcai.2018/58

Multi-agent path finding with deadlines. / Ma, Hang; Wagner, Glenn; Felner, Ariel et al.
Proceedings of the 27th International Joint Conference on Artificial Intelligence, IJCAI 2018. ed. / Jerome Lang. International Joint Conferences on Artificial Intelligence, 2018. p. 417-423 (IJCAI International Joint Conference on Artificial Intelligence; Vol. 2018-July).

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

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Ma H, Wagner G, Felner A, Li J, Satish Kumar TK, Koenig S. Multi-agent path finding with deadlines. In Lang J, editor, Proceedings of the 27th International Joint Conference on Artificial Intelligence, IJCAI 2018. International Joint Conferences on Artificial Intelligence. 2018. p. 417-423. (IJCAI International Joint Conference on Artificial Intelligence). doi: 10.24963/ijcai.2018/58

Multi-agent path finding with deadlines

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