The Increasing Cost Tree Search for Optimal Multi-Agent Pathfinding

@inproceedings{Sharon2011TheIC,
  title={The Increasing Cost Tree Search for Optimal Multi-Agent Pathfinding},
  author={Guni Sharon and Roni Stern and Meir Goldenberg and Ariel Felner},
  booktitle={IJCAI},
  year={2011}
}
We address the problem of optimal path finding for multiple agents where agents must not collide and their total travel cost should be minimized. Previous work used traditional single-agent search variants of the A* algorithm. We present a novel formalization for this problem which includes a search tree called the increasing cost tree (ICT) and a corresponding search algorithm that finds optimal solutions. We analyze this new formalization and compare it to the previous state-of-the-art A… CONTINUE READING

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