Conflict-Based Search for Optimal Multi-Agent Path Finding
DOI:
https://doi.org/10.1609/socs.v3i1.18222Keywords:
Multi-agent, Search, PathfindingAbstract
We present a new two-level search algorithm for optimal multi-agent path finding called Conflict Based Search (CBS). 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. Experimental results on various problems shows a speedup of up to a full order of magnitude over previous approaches.
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Published
2021-08-20
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Extended Abstracts of Papers Presented Elsewhere