{"type":"ScholarlyArticle","title":"Solving Multi-Agent Path Finding on Strongly Biconnected Digraphs (Extended Abstract)","authors":[{"name":"Adi Botea","slug":"adi-botea","given":"Adi","family":"Botea","affiliation":"IBM Research , Dublin , Ireland"},{"name":"Davide Bonusi","slug":"davide-bonusi","given":"Davide","family":"Bonusi","affiliation":"Raffmetal S.p.a , Brescia , Italy"},{"name":"Pavel Surynek","slug":"pavel-surynek","given":"Pavel","family":"Surynek","affiliation":"Czech Technical University , Faculty of Information Technology"}],"abstract":"We present and evaluate diBOX, an algorithm for\r\nmulti-agent path finding on strongly biconnected\r\ndirected graphs. diBOX runs in polynomial time,\r\ncomputes suboptimal solutions and is complete for\r\ninstances on strongly biconnected digraphs with at\r\nleast two unoccupied positions. A detailed empirical\r\nanalysis shows a good scalability for diBOX.","doi":"10.24963/ijcai.2018/785","url":"https://ijcai.org/proceedings/2018/785","pdf":"https://ijcai.org/proceedings/2018/0785.pdf","markdown":"https://ijcai.org/proceedings/2018/785.md","bibtex":"https://ijcai.org/proceedings/2018/bibtex/785","volume":{"slug":"2018","title":"Proceedings of the Twenty-Seventh International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2018","url":"https://ijcai.org/proceedings/2018/","year":2018,"location":"Stockholm","dates":"13-19 July 2018","editors":"Jérôme Lang","isbn":"978-0-9992411-2-7","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2018"},"section":"Journal track","track":"Journal track","number":785,"pages":{"first":5563,"last":5567},"keywords":["Planning and Scheduling: Planning Algorithms","Planning and Scheduling: Robot Planning","Planning and Scheduling: Theoretical Foundations of Planning","Robotics: Motion and Path Planning"],"videos":[],"references":[{"position":1,"raw":"[Botea and Surynek, 2015] Adi Botea and Pavel Surynek. Multi-agent path finding on strongly biconnected digraphs. In Proceedings of the 29th AAAI Conference on Artificial Intelligence, pages 2024-2030. AAAI Press, 2015.","title":"Adi Botea and Pavel Surynek. Multi-agent path finding on strongly biconnected digraphs","authors":"Surynek Botea","year":"2015","venue":"Proceedings of the 29th AAAI Conference on Artificial Intelligence","doi":null,"url":null,"internal_url":null},{"position":2,"raw":"[Botea et al., 2018] Adi Botea, Davide Bonusi, and Pavel Surynek. Solving multi-agent path finding on strongly bi- connected digraphs. AAAI Press, in press, 2018.","title":"Solving multi-agent path finding on strongly biconnected digraphs","authors":"Adi Botea, Davide Bonusi, Pavel Surynek","year":"2018","venue":null,"doi":null,"url":null,"internal_url":null},{"position":3,"raw":"[de Wilde et al., 2013] Boris de Wilde, Adriaan W. ter Mors, and Cees Witteveen. Push and rotate: Cooperative multi- agent path planning. In Proceedings of the 2013 Interna- tional Conference on Autonomous Agents and Multi-agent Systems (AAMAS-13), pages 87-94. IFAAMAS, 2013.","title":"Push and rotate: Cooperative multiagent path planning","authors":"Boris De Wilde, Adriaan W Ter Mors, Cees Witteveen","year":"2013","venue":"Proceedings of the 2013 International Conference on Autonomous Agents and Multi-agent Systems (AAMAS-13)","doi":null,"url":null,"internal_url":null},{"position":4,"raw":"[de Wilde et al., 2014] Boris de Wilde, Adriaan ter Mors, and Cees Witteveen. Push and rotate: a complete multi- agent pathfinding algorithm. Journal of Artificial Intelli- gence Research, 51:443-492, 2014.","title":"Push and rotate: a complete multiagent pathfinding algorithm","authors":"De Wilde","year":"2014","venue":"Journal of Artificial Intelligence Research","doi":null,"url":null,"internal_url":null},{"position":5,"raw":"[Jetcheva and Johnson, 2006] Jorjeta G. Jetcheva and David B. Johnson. Routing characteristics of ad hoc networks with unidirectional links. Ad Hoc Networks, 4(3):303-325, 2006.","title":"Routing characteristics of ad hoc networks with unidirectional links","authors":"G Jorjeta, David B Jetcheva, Johnson","year":"2006","venue":"Ad Hoc Networks","doi":null,"url":null,"internal_url":null},{"position":6,"raw":"[Khorshid et al., 2011] Mokhtar M. Khorshid, Robert C. Holte, and Nathan R. Sturtevant. A polynomial-time al- gorithm for non-optimal multi-agent pathfinding. In Pro- ceedings of the 4th Annual Symposium on Combinatorial Search, SOCS 2011. AAAI Press, 2011.","title":"A polynomial-time algorithm for non-optimal multi-agent pathfinding","authors":"M Mokhtar, Robert C Khorshid, Nathan R Holte, Sturtevant","year":"2011","venue":"Proceedings of the 4th Annual Symposium on Combinatorial Search, SOCS 2011","doi":null,"url":null,"internal_url":null},{"position":7,"raw":"[Kornhauser et al., 1984] D. Kornhauser, G. Miller, and P. Spirakis. Coordinating pebble motion on graphs, the diameter of permutation groups, and applications. In Pro- ceedings of the 25th Annual Symposium on Foundations of Computer Science (FOCS), pages 241-250. IEEE Com- puter Society, 1984.","title":"Coordinating pebble motion on graphs, the diameter of permutation groups, and applications","authors":"D Kornhauser, G Miller, P Spirakis","year":"1984","venue":"Proceedings of the 25th Annual Symposium on Foundations of Computer Science (FOCS)","doi":null,"url":null,"internal_url":null},{"position":8,"raw":"[Luna and Bekris, 2011] Ryan Luna and Kostas E. Bekris. Push and swap: Fast cooperative path-finding with com- pleteness guarantees. In Toby Walsh, editor, Proceedings of the 22nd International Joint Conference on Artificial Intelligence, IJCAI 2011, pages 294-300. IJCAI/AAAI, 2011.","title":"Push and swap: Fast cooperative path-finding with completeness guarantees","authors":"Ryan Luna, Kostas E Bekris","year":"2011","venue":"Proceedings of the 22nd International Joint Conference on Artificial Intelligence, IJCAI 2011","doi":null,"url":null,"internal_url":"/proceedings/2011/59"},{"position":9,"raw":"[Marina and Das, 2002] Mahesh K. Marina and Samir R. Das. Routing performance in the presence of unidirec- tional links in multihop wireless networks. In Proceedings of ACM MobiHoc, pages 12-23. ACM Press, 2002.","title":"Routing performance in the presence of unidirectional links in multihop wireless networks","authors":"Mahesh K Marina, R Samir, Das","year":"2002","venue":"Proceedings of ACM MobiHoc","doi":null,"url":null,"internal_url":null},{"position":10,"raw":"[Ryan, 2008] M. R. K. Ryan. Exploiting Subgraph Structure in Multi-Robot Path Planning. Journal of Artificial Intelli- gence Research, 31:497-542, 2008.","title":"Exploiting Subgraph Structure in Multi-Robot Path Planning","authors":"M R K Ryan","year":"2008","venue":"Journal of Artificial Intelligence Research","doi":null,"url":null,"internal_url":null},{"position":11,"raw":"[Sharon et al., 2013] Guni Sharon, Roni Stern, Meir Gold- enberg, and Ariel Felner. The increasing cost tree search for optimal multi-agent pathfinding. Artificial Intelligence, 195:470-495, 2013.","title":"The increasing cost tree search for optimal multi-agent pathfinding","authors":"Guni Sharon, Roni Stern, Meir Goldenberg, Ariel Felner","year":"2013","venue":"Artificial Intelligence","doi":null,"url":null,"internal_url":null},{"position":12,"raw":"[Sharon et al., 2015] Guni Sharon, Roni Stern, Ariel Fel- ner, and Nathan R. Sturtevant. Conflict-based search for optimal multi-agent pathfinding. Artificial Intelligence, 219:40-66, 2015.","title":"Conflict-based search for optimal multi-agent pathfinding","authors":"Guni Sharon, Roni Stern, Ariel Felner, Nathan R Sturtevant","year":"2015","venue":"Artificial Intelligence","doi":null,"url":null,"internal_url":null},{"position":13,"raw":"[Silver, 2005] David Silver. Cooperative pathfinding. In R. Michael Young and John E. Laird, editors, Proceed- ings of the 1st Artificial Intelligence and Interactive Dig- ital Entertainment Conference, AIIDE 2005, pages 117- 122. AAAI Press, 2005.","title":"Cooperative pathfinding","authors":"David Silver","year":"2005","venue":"Proceedings of the 1st Artificial Intelligence and Interactive Digital Entertainment Conference, AIIDE 2005","doi":null,"url":null,"internal_url":null},{"position":14,"raw":"[Standley, 2010] Trevor Scott Standley. Finding optimal so- lutions to cooperative pathfinding problems. In Proceed- ings of the 24th AAAI Conference on Artificial Intelligence, AAAI 2010. AAAI Press, 2010.","title":"Finding optimal solutions to cooperative pathfinding problems","authors":"Trevor Scott, Standley","year":"2010","venue":"Proceedings of the 24th AAAI Conference on Artificial Intelligence, AAAI 2010","doi":null,"url":null,"internal_url":null},{"position":15,"raw":"[Surynek et al., 2016] Pavel Surynek, Ariel Felner, Roni Stern, and Eli Boyarski. Efficient SAT approach to multi- agent path finding under the sum of costs objective. In ECAI 2016 -22nd European Conference on Artificial In- telligence, pages 810-818. IOS Press, 2016.","title":"Efficient SAT approach to multiagent path finding under the sum of costs objective","authors":"Surynek","year":"2016","venue":"ECAI 2016 -22nd European Conference on Artificial Intelligence","doi":null,"url":null,"internal_url":null},{"position":16,"raw":"[Surynek, 2009] P. Surynek. A novel approach to path planning for multiple robots in bi-connected graphs. In IEEE International Conference on Robotics and Automa- tion (ICRA 2009), pages 3613-3619, 2009.","title":"A novel approach to path planning for multiple robots in bi-connected graphs","authors":"P Surynek","year":"2009","venue":"IEEE International Conference on Robotics and Automation (ICRA 2009)","doi":null,"url":null,"internal_url":null},{"position":17,"raw":"[Surynek, 2014] Pavel Surynek. Solving abstract coopera- tive path-finding in densely populated environments. Com- putational Intelligence, 30(2):402-450, 2014.","title":"Pavel Surynek. Solving abstract cooperative path-finding in densely populated environments","authors":"Surynek","year":"2014","venue":"Computational Intelligence","doi":null,"url":null,"internal_url":null},{"position":18,"raw":"[Wagner and Choset, 2015] Glenn Wagner and Howie Choset. Subdimensional expansion for multirobot path planning. Artificial Intelligence, 219:1-24, 2015.","title":"Subdimensional expansion for multirobot path planning","authors":"Choset ; Wagner, Glenn Wagner, Howie Choset","year":"2015","venue":"Artificial Intelligence","doi":null,"url":null,"internal_url":null},{"position":19,"raw":"[Wang and Botea, 2008] K.-H. C. Wang and A. Botea. Fast and Memory-Efficient Multi-Agent Pathfinding. In Pro- ceedings of the International Conference on Automated Planning and Scheduling (ICAPS-08), pages 380-387. AAAI Press, 2008.","title":"Fast and Memory-Efficient Multi-Agent Pathfinding","authors":"K.-H C Wang, A Botea","year":"2008","venue":"Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS-08)","doi":null,"url":null,"internal_url":null},{"position":20,"raw":"[Wang and Botea, 2011] K.-H. C. Wang and A. Botea. MAPP: a Scalable Multi-Agent Path Planning Algorithm with Tractability and Completeness Guarantees. Journal of Artificial Intelligence Research, 42:55-90, 2011.","title":"MAPP: a Scalable Multi-Agent Path Planning Algorithm with Tractability and Completeness Guarantees","authors":"K.-H C Wang, A Botea","year":"2011","venue":"Journal of Artificial Intelligence Research","doi":null,"url":null,"internal_url":null},{"position":21,"raw":"[Wilson, 1974] Richard M Wilson. Graph puzzles, homo- topy, and the alternating group. Journal of Combinatorial Theory, Series B, 16(1):86-96, 1974.","title":"Graph puzzles, homotopy, and the alternating group","authors":"Richard M Wilson","year":"1974","venue":"Journal of Combinatorial Theory, Series B","doi":null,"url":null,"internal_url":null},{"position":22,"raw":"[Wu and Grumbach, 2010] Zhilin Wu and Stéphane Grum- bach. Feasibility of motion planning on acyclic and strongly connected directed graphs. Discrete Applied Mathematics, 158(9):1017 -1028, 2010.","title":"Feasibility of motion planning on acyclic and strongly connected directed graphs","authors":"Zhilin Wu, Stéphane Grumbach","year":"2010","venue":"Discrete Applied Mathematics","doi":null,"url":null,"internal_url":null}],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}