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• W3359552 abstract "In the multi agent path finding problem (MAPF) paths should be found for several agents, each with a different start and goal position such that agents do not collide. Previous optimal solvers applied global A*-based searches. We present a new search algorithm called Conflict Based Search (CBS). CBS is a two-level algorithm. At the high level, a search is performed on a tree based on conflicts between agents. At the low level, a search is performed only for a single agent at a time. In many cases this reformulation enables CBS to examine fewer states than A* while still maintaining optimality. We analyze CBS and show its benefits and drawbacks. Experimental results on various problems shows a speedup of up to a full order of magnitude over previous approaches." @default.
• W3359552 created "2016-06-24" @default.
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• W3359552 date "2021-09-20" @default.
• W3359552 modified "2023-09-23" @default.
• W3359552 title "Conflict-Based Search For Optimal Multi-Agent Path Finding" @default.
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• W3359552 doi "https://doi.org/10.1609/aaai.v26i1.8140" @default.
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