On Propositional Encodings of Cooperative Path-Finding

  title={On Propositional Encodings of Cooperative Path-Finding},
  author={Pavel Surynek},
  journal={2012 IEEE 24th International Conference on Tools with Artificial Intelligence},
The approach to solving cooperative-path finding (CPF) as propositional satisfiability (SAT) is revisited in this paper. An alternative encoding that exploits multi-valued state variables representing locations where a given agent resides is suggested. This encoding employs the ALL-DIFFERENT constraint to model the requirement that agents must not collide with each other. The use of suggested state variables also allowed us to incorporate certain heuristic reasoning to reduce the size of the… CONTINUE READING