Compact Representations of Cooperative Path-Finding as SAT Based on Matchings in Bipartite Graphs

@article{Surynek2014CompactRO,
  title={Compact Representations of Cooperative Path-Finding as SAT Based on Matchings in Bipartite Graphs},
  author={Pavel Surynek},
  journal={2014 IEEE 26th International Conference on Tools with Artificial Intelligence},
  year={2014},
  pages={875-882}
}
This paper addresses make span optimal solving of cooperative path-finding problem (CPF) by translating it to propositional satisfiability (SAT). The task is to relocate set of agents to given goal positions so that they do not collide with each other. A novel SAT encoding of CPF is suggested. The novel encoding uses the concept of matching in a bipartite graph to separate spatial constraint of CPF from consideration of individual agents. The separation allowed reducing the size of encoding… CONTINUE READING
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