TY - JOUR AU - Li, Jiaoyang AU - Chen, Zhe AU - Harabor, Daniel AU - Stuckey, Peter J. AU - Koenig, Sven PY - 2022/06/28 Y2 - 2024/03/29 TI - MAPF-LNS2: Fast Repairing for Multi-Agent Path Finding via Large Neighborhood Search JF - Proceedings of the AAAI Conference on Artificial Intelligence JA - AAAI VL - 36 IS - 9 SE - AAAI Technical Track on Search and Optimization DO - 10.1609/aaai.v36i9.21266 UR - https://ojs.aaai.org/index.php/AAAI/article/view/21266 SP - 10256-10265 AB - Multi-Agent Path Finding (MAPF) is the problem of planning collision-free paths for multiple agents in a shared environment. In this paper, we propose a novel algorithm MAPF-LNS2 based on large neighborhood search for solving MAPF efficiently. Starting from a set of paths that contain collisions, MAPF-LNS2 repeatedly selects a subset of colliding agents and replans their paths to reduce the number of collisions until the paths become collision-free. We compare MAPF-LNS2 against a variety of state-of-the-art MAPF algorithms, including Prioritized Planning with random restarts, EECBS, and PPS, and show that MAPF-LNS2 runs significantly faster than them while still providing near-optimal solutions in most cases. MAPF-LNS2 solves 80% of the random-scenario instances with the largest number of agents from the MAPF benchmark suite with a runtime limit of just 5 minutes, which, to our knowledge, has not been achieved by any existing algorithms. ER -