ICBS: Improved Conflict-Based Search Algorithm for Multi-Agent Pathfinding

Boyarski, Eli; Felner, Ariel; Stern, Roni; Sharon, Guni; Tolpin, David; Betzalel, Oded; Shimony, Solomon Eyal

ICBS: Improved Conflict-Based Search Algorithm for Multi-Agent Pathfinding

Eli Boyarski, Ariel Felner, Roni Stern, Guni Sharon, David Tolpin, Oded Betzalel, Solomon Eyal Shimony

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Proceedings of the Twenty-Fourth International Joint Conference on Artificial Intelligence. Main Track. Pages 740-745.

Abstract

Conflict-Based Search (CBS) and its enhancements, Meta-Agent CBS and bypassing conflicts are amongst the strongest newly introduced algorithms for Multi-Agent Path Finding. This paper introduces two new improvements to CBS and incorporates them into a coherent, improved version of CBS, namely ICBS. Experimental results show that each of these improvements further reduces the runtime over the existing CBS-based approaches. When all improvements are combined, an even larger improvement is achieved, producing state-of-the art results for a number of domains.

Eli Boyarski, Ariel Felner, Roni Stern, Guni Sharon, David Tolpin, Oded Betzalel, and Solomon Eyal Shimony. 2015. ICBS: Improved Conflict-Based Search Algorithm for Multi-Agent Pathfinding. In Proceedings of the Twenty-Fourth International Joint Conference on Artificial Intelligence, IJCAI-15. IJCAI, 740–745. https://ijcai.org/proceedings/2015/110

@inproceedings{ijcai2015p110,
  title     = {ICBS: Improved Conflict-Based Search Algorithm for Multi-Agent Pathfinding},
  author    = {Boyarski, Eli and Felner, Ariel and Stern, Roni and Sharon, Guni and Tolpin, David and Betzalel, Oded and Shimony, Solomon Eyal},
  booktitle = {Proceedings of the Twenty-Fourth International Joint Conference on
               Artificial Intelligence, {IJCAI-15}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Qiang Yang and Michael Wooldridge},
  pages     = {740--745},
  year      = {2015},
  month     = {7},
  note      = {Main Track},
  url       = {https://ijcai.org/proceedings/2015/110},
}

TY  - CPAPER
TI  - ICBS: Improved Conflict-Based Search Algorithm for Multi-Agent Pathfinding
AU  - Boyarski, Eli
AU  - Felner, Ariel
AU  - Stern, Roni
AU  - Sharon, Guni
AU  - Tolpin, David
AU  - Betzalel, Oded
AU  - Shimony, Solomon Eyal
T2  - Proceedings of the Twenty-Fourth International Joint Conference on Artificial Intelligence, IJCAI-15
PB  - International Joint Conferences on Artificial Intelligence
PY  - 2015
SP  - 740
EP  - 745
UR  - https://ijcai.org/proceedings/2015/110
ER  -