---
title: "ICBS: Improved Conflict-Based Search Algorithm for Multi-Agent Pathfinding"
authors:
  - "Eli Boyarski"
  - "Ariel Felner"
  - "Roni Stern"
  - "Guni Sharon"
  - "David Tolpin"
  - "Oded Betzalel"
  - "Solomon Eyal Shimony"
doi: ""
url: "https://ijcai.org/proceedings/2015/110"
pdf: "https://ijcai.org/proceedings/2015/0110.pdf"
venue: "Proceedings of the Twenty-Fourth International Joint Conference on Artificial Intelligence"
year: 2015
pages: "740-745"
track: "Main Track"
keywords:
---

# 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

*Proceedings of the Twenty-Fourth International Joint Conference on Artificial Intelligence*, 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.