{"type":"ScholarlyArticle","title":"Reduced Time-Expansion Graphs and Goal Decomposition for Solving Cooperative Path Finding Sub-Optimally","authors":[{"name":"Pavel Surynek","slug":"pavel-surynek","given":"Pavel","family":"Surynek","affiliation":""}],"abstract":"Solving cooperative path finding (CPF) by translating it to propositional satisfiability represents a viable option in highly constrained situations. The task in CPF is to relocate agents from their initial positions to given goals in a collision free manner. In this paper, we propose a reduced time expansion that is focused on makespan sub-optimal solving. The suggested reduced time expansion is especially beneficial in conjunction with a goal decomposition where agents are relocated one by one.","doi":null,"url":"https://ijcai.org/proceedings/2015/272","pdf":"https://ijcai.org/proceedings/2015/0272.pdf","markdown":"https://ijcai.org/proceedings/2015/272.md","bibtex":"https://ijcai.org/proceedings/2015/bibtex/272","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":"Robotics and Vision","track":"Main Track","number":272,"pages":{"first":1916,"last":1921},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}