Further Improved Heuristics For Conflict-Based Search
DOI:
https://doi.org/10.1609/socs.v12i1.18587Keywords:
Bounding And Pruning TechniquesAbstract
Conflict-Based Search (CBS) is a leading two-level algorithm for optimal Multi-Agent Path Finding (MAPF). At its high level, CBS expands nodes by resolving conflicts. In recent years, admissible heuristics were added to the high level of CBS. We enhance all known heuristic functions for CBS by using information about the cost of resolving certain conflicts, with only a small computational overhead. We experimentally demonstrate that the improved heuristics contribute to making CBS even more efficient.Downloads
Published
2021-07-21
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Section
Student Papers