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- W1430351163 abstract "Multi-agent path-finding (MAPF) is important for applications such as the kind of warehousing done by Kiva systems. Solving the problem optimally is NP-hard, yet finding low-cost solutions is important. Bounded-suboptimal MAPF algorithms, such as enhanced conflict-based search (ECBS), often do not perform well in warehousing domains with many agents. We therefore develop bounded-suboptimal MAPF algorithms, called CBS+HWY and ECBS+HWY, that exploit the problem structure of a given MAPF instance by finding paths for the agents that include edges from user-provided highways, which encourages a global behavior of the agents that avoids collisions. On the theoretical side, we develop a simple approach that uses highways for MAPF and provides suboptimality guarantees. On the experimental side, we demonstrate that ECBS+HWY can decrease the runtimes and solution costs of ECBS in Kiva-like domains with many agents if the highways capture the problem structures well." @default.
- W1430351163 created "2016-06-24" @default.
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- W1430351163 date "2021-09-01" @default.
- W1430351163 modified "2023-10-14" @default.
- W1430351163 title "Feasibility Study: Using Highways for Bounded-Suboptimal Multi-Agent Path Finding" @default.
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- W1430351163 doi "https://doi.org/10.1609/socs.v6i1.18363" @default.
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