{"type":"ScholarlyArticle","title":"ICBS: Improved Conflict-Based Search Algorithm for Multi-Agent Pathfinding","authors":[{"name":"Eli Boyarski","slug":"eli-boyarski","given":"Eli","family":"Boyarski","affiliation":""},{"name":"Ariel Felner","slug":"ariel-felner","given":"Ariel","family":"Felner","affiliation":""},{"name":"Roni Stern","slug":"roni-stern","given":"Roni","family":"Stern","affiliation":""},{"name":"Guni Sharon","slug":"guni-sharon","given":"Guni","family":"Sharon","affiliation":""},{"name":"David Tolpin","slug":"david-tolpin","given":"David","family":"Tolpin","affiliation":""},{"name":"Oded Betzalel","slug":"oded-betzalel","given":"Oded","family":"Betzalel","affiliation":""},{"name":"Solomon Eyal Shimony","slug":"solomon-eyal-shimony","given":"Solomon Eyal","family":"Shimony","affiliation":""}],"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.","doi":null,"url":"https://ijcai.org/proceedings/2015/110","pdf":"https://ijcai.org/proceedings/2015/0110.pdf","markdown":"https://ijcai.org/proceedings/2015/110.md","bibtex":"https://ijcai.org/proceedings/2015/bibtex/110","volume":{"slug":"2015","title":"Proceedings of the Twenty-Fourth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2015","url":"https://ijcai.org/proceedings/2015/","year":2015,"location":"Buenos Aires, Argentina","dates":"25–31 July 2015","editors":"Qiang Yang and Michael Wooldridge","isbn":"978-1-57735-738-4","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Heuristic Search","track":"Main Track","number":110,"pages":{"first":740,"last":745},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}