Variants of independence detection in SAT-based optimal multi-agent path finding

Pavel Surynek; Jiří Švancara; Ariel Felner; Eli Boyarski

doi:10.1007/978-3-319-93581-2_7

Variants of independence detection in SAT-based optimal multi-agent path finding

Pavel Surynek, Jiří Švancara, Ariel Felner, Eli Boyarski

Department of Computer Science

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

1 Scopus citations

Abstract

In multi-agent path finding (MAPF) on graphs, the task is to find paths for distinguishable agents so that each agent reaches its unique goal vertex from the given start while collisions between agents are forbidden. A cumulative objective function is often minimized in MAPF. The main contribution of this paper consists in integrating independence detection technique (ID) into a compilation-based MAPF solver that translates MAPF instances into propositional satisfiability (SAT). The independence detection technique in search-based solvers tries to decompose a given MAPF instance into instances consisting of small groups of agents with no interaction across groups. After the decomposition phase, small instances are solved independently and the solution of the original instance is combined from individual solutions to small instances. The presented experimental evaluation indicates significant reduction of the size of instances translated to the target SAT formalism and positive impact on the overall performance of the solver.

Original language	English
Title of host publication	Agents and Artificial Intelligence - 9th International Conference, ICAART 2017, Revised Selected Papers
Editors	Joaquim Filipe, Jaap van den Herik, Ana Paula Rocha
Publisher	Springer Verlag
Pages	116-136
Number of pages	21
ISBN (Print)	9783319935805
DOIs	https://doi.org/10.1007/978-3-319-93581-2_7
State	Published - 2018
Event	9th International Conference on Agents and Artificial Intelligence, ICAART 2017 - Porto, Portugal Duration: 24 Feb 2017 → 26 Feb 2017

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	10839 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	9th International Conference on Agents and Artificial Intelligence, ICAART 2017
Country/Territory	Portugal
City	Porto
Period	24/02/17 → 26/02/17

Bibliographical note

Publisher Copyright:
© 2018, Springer International Publishing AG, part of Springer Nature.

Funding

This paper is supported by the joint grant of the Israel Ministry of Science and the Czech Ministry of Education Youth and Sports number 8G15027, and Charles University under the SVV project number 260 333. We would like thank anonymous reviewers for their constructive comments of [31] which helped us to prepare this extended version of the paper. Acknowledgements. This paper is supported by the joint grant of the Israel Ministry of Science and the Czech Ministry of Education Youth and Sports number 8G15027, and Charles University under the SVV project number 260 333.

Funders	Funder number
Czech Ministry of Education Youth and Sports	8G15027
Israel Ministry of Science
Univerzita Karlova v Praze	260 333
Ministerstvo Školství, Mládeže a Tělovýchovy
Ministry of science and technology, Israel

Keywords

Cost optimality
Independence detection (ID)
Makespan optimality
Multi-agent path-finding (MAPF)
Path-finding on grids
Propositional satisfiability (SAT)
SAT encodings
Sum-of-costs optimality

Access to Document

10.1007/978-3-319-93581-2_7

Cite this

Surynek, P., Švancara, J., Felner, A., & Boyarski, E. (2018). Variants of independence detection in SAT-based optimal multi-agent path finding. In J. Filipe, J. van den Herik, & A. P. Rocha (Eds.), Agents and Artificial Intelligence - 9th International Conference, ICAART 2017, Revised Selected Papers (pp. 116-136). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10839 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-319-93581-2_7

Surynek, Pavel ; Švancara, Jiří ; Felner, Ariel et al. / Variants of independence detection in SAT-based optimal multi-agent path finding. Agents and Artificial Intelligence - 9th International Conference, ICAART 2017, Revised Selected Papers. editor / Joaquim Filipe ; Jaap van den Herik ; Ana Paula Rocha. Springer Verlag, 2018. pp. 116-136 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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abstract = "In multi-agent path finding (MAPF) on graphs, the task is to find paths for distinguishable agents so that each agent reaches its unique goal vertex from the given start while collisions between agents are forbidden. A cumulative objective function is often minimized in MAPF. The main contribution of this paper consists in integrating independence detection technique (ID) into a compilation-based MAPF solver that translates MAPF instances into propositional satisfiability (SAT). The independence detection technique in search-based solvers tries to decompose a given MAPF instance into instances consisting of small groups of agents with no interaction across groups. After the decomposition phase, small instances are solved independently and the solution of the original instance is combined from individual solutions to small instances. The presented experimental evaluation indicates significant reduction of the size of instances translated to the target SAT formalism and positive impact on the overall performance of the solver.",

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Surynek, P, Švancara, J, Felner, A & Boyarski, E 2018, Variants of independence detection in SAT-based optimal multi-agent path finding. in J Filipe, J van den Herik & AP Rocha (eds), Agents and Artificial Intelligence - 9th International Conference, ICAART 2017, Revised Selected Papers. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 10839 LNAI, Springer Verlag, pp. 116-136, 9th International Conference on Agents and Artificial Intelligence, ICAART 2017, Porto, Portugal, 24/02/17. https://doi.org/10.1007/978-3-319-93581-2_7

Variants of independence detection in SAT-based optimal multi-agent path finding. / Surynek, Pavel; Švancara, Jiří; Felner, Ariel et al.
Agents and Artificial Intelligence - 9th International Conference, ICAART 2017, Revised Selected Papers. ed. / Joaquim Filipe; Jaap van den Herik; Ana Paula Rocha. Springer Verlag, 2018. p. 116-136 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10839 LNAI).

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

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Surynek P, Švancara J, Felner A, Boyarski E. Variants of independence detection in SAT-based optimal multi-agent path finding. In Filipe J, van den Herik J, Rocha AP, editors, Agents and Artificial Intelligence - 9th International Conference, ICAART 2017, Revised Selected Papers. Springer Verlag. 2018. p. 116-136. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-319-93581-2_7

Variants of independence detection in SAT-based optimal multi-agent path finding

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Keywords

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