Using Hierarchical Constraints to Avoid Conflicts in Multi-Agent Pathfinding

  title={Using Hierarchical Constraints to Avoid Conflicts in Multi-Agent Pathfinding},
  author={Thayne T. Walker and David M. Chan and Nathan R. Sturtevant},
Recent work in multi-agent path planning has provided a number of optimal and suboptimal solvers that can efficiently find solutions to problems of growing complexity. Solvers based on Conflict-Based Search (CBS) combine single-agent solvers with shared constraints between agents to find feasible solutions. Suboptimal variants of CBS introduce alternate heuristics to avoid conflicts. In this paper we study the multiagent planning problem in the context of non-holonomic vehicles planning on a… CONTINUE READING


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