Using Hierarchical Constraints to Avoid Conflicts in Multi-Agent Pathfinding

@inproceedings{Walker2017UsingHC,
  title={Using Hierarchical Constraints to Avoid Conflicts in Multi-Agent Pathfinding},
  author={Thayne T. Walker and David Chan and Nathan R Sturtevant},
  booktitle={ICAPS},
  year={2017}
}
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 multi-agent planning problem in the context of non-holonomic vehicles planning on… 

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