Multi-agent pathfinding with continuous time

Anton Andreychuk; Konstantin Yakovlev; Dor Atzmon; Roni Sternr

doi:10.24963/ijcai.2019/6

Multi-agent pathfinding with continuous time

Anton Andreychuk, Konstantin Yakovlev, Dor Atzmon, Roni Sternr

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

63 Scopus citations

Abstract

Multi-Agent Pathfinding (MAPF) is the problem of finding paths for multiple agents such that every agent reaches its goal and the agents do not collide. Most prior work on MAPF was on grids, assumed agents' actions have uniform duration, and that time is discretized into timesteps. We propose a MAPF algorithm that does not rely on these assumptions, is complete, and provides provably optimal solutions. This algorithm is based on a novel adaptation of Safe interval path planning (SIPP), a continuous time single-agent planning algorithm, and a modified version of Conflict-based search (CBS), a state of the art multi-agent pathfinding algorithm. We analyze this algorithm, discuss its pros and cons, and evaluate it experimentally on several standard benchmarks.

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	39-45
Number of pages	7
ISBN (Electronic)	9780999241141
DOIs	https://doi.org/10.24963/ijcai.2019/6
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

This research is supported by ISF grants no. 210/17 to Roni Stern and by RSF grant no. 16-11-00048 to Konstantin Yakovlev and Anton Andreychuk.

Funders	Funder number
Robert Schalkenbach Foundation	16-11-00048
Israel Science Foundation	210/17
Russian Science Foundation

Access to Document

10.24963/ijcai.2019/6

Cite this

Andreychuk, A., Yakovlev, K., Atzmon, D., & Sternr, R. (2019). Multi-agent pathfinding with continuous time. In S. Kraus (Ed.), Proceedings of the 28th International Joint Conference on Artificial Intelligence, IJCAI 2019 (pp. 39-45). (IJCAI International Joint Conference on Artificial Intelligence; Vol. 2019-August). International Joint Conferences on Artificial Intelligence. https://doi.org/10.24963/ijcai.2019/6

Andreychuk, Anton ; Yakovlev, Konstantin ; Atzmon, Dor et al. / Multi-agent pathfinding with continuous time. Proceedings of the 28th International Joint Conference on Artificial Intelligence, IJCAI 2019. editor / Sarit Kraus. International Joint Conferences on Artificial Intelligence, 2019. pp. 39-45 (IJCAI International Joint Conference on Artificial Intelligence).

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Andreychuk, A, Yakovlev, K, Atzmon, D & Sternr, R 2019, Multi-agent pathfinding with continuous time. 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. 39-45, 28th International Joint Conference on Artificial Intelligence, IJCAI 2019, Macao, China, 10/08/19. https://doi.org/10.24963/ijcai.2019/6

Multi-agent pathfinding with continuous time. / Andreychuk, Anton; Yakovlev, Konstantin; Atzmon, Dor 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. 39-45 (IJCAI International Joint Conference on Artificial Intelligence; Vol. 2019-August).

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

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Andreychuk A, Yakovlev K, Atzmon D, Sternr R. Multi-agent pathfinding with continuous time. In Kraus S, editor, Proceedings of the 28th International Joint Conference on Artificial Intelligence, IJCAI 2019. International Joint Conferences on Artificial Intelligence. 2019. p. 39-45. (IJCAI International Joint Conference on Artificial Intelligence). doi: 10.24963/ijcai.2019/6

Multi-agent pathfinding with continuous time

Abstract

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