Suboptimal Variants of the Conflict-Based Search Algorithm for the Multi-Agent Pathfinding Problem

@inproceedings{Barer2014SuboptimalVO,
  title={Suboptimal Variants of the Conflict-Based Search Algorithm for the Multi-Agent Pathfinding Problem},
  author={Max Barer and Guni Sharon and Roni Stern and Ariel Felner},
  booktitle={ECAI},
  year={2014}
}
The task in the multi-agent path finding problem (MAPF) is to find paths for multiple agents, each with a different start and goal position, such that agents do not collide. A successful optimal MAPF solver is the conflict-based search (CBS) algorithm. CBS is a two level algorithm where special conditions ensure it returns the optimal solution. Solving MAPF optimally is proven to be NP-hard, hence CBS and all other optimal solvers do not scale up. We propose several ways to relax the optimality… CONTINUE READING

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