Efficient SAT Approach to Multi-Agent Path Finding Under the Sum of Costs Objective

@inproceedings{Surynek2016EfficientSA,
  title={Efficient SAT Approach to Multi-Agent Path Finding Under the Sum of Costs Objective},
  author={Pavel Surynek and Ariel Felner and Roni Stern and Eli Boyarski},
  booktitle={ECAI},
  year={2016}
}
In the multi-agent path finding (MAPF) the task is to find non-conflicting paths for multiple agents. In this paper we present the first SAT-solver for the sum-of-costs variant of MAPF which was previously only solved by search-based methods. Using both a lower bound on the sum-of-costs and an upper bound on the makespan, we are able to have a reasonable number of variables in our SAT encoding. We then further improve the encoding by borrowing ideas from ICTS, a search-based solver… CONTINUE READING
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