Further Improved Heuristics For Conflict-Based Search


  • Eli Boyarski Ben-Gurion University of the Negev
  • Ariel Felner Ben-Gurion University of the Negev
  • Pierre Le Bodic Monash University
  • Daniel D. Harabor Monash University
  • Peter J. Stuckey Monash University
  • Sven Koenig University of Southern California


Bounding And Pruning Techniques


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.