{"type":"ScholarlyArticle","title":"Multi-Agent Pathfinding with Continuous Time","authors":[{"name":"Anton Andreychuk","slug":"anton-andreychuk","given":"Anton","family":"Andreychuk","affiliation":"Federal Research Center \"Computer Science and Control\" of Russian Academy of Sciences; Peoples' Friendship University of Russia (RUDN University )"},{"name":"Konstantin Yakovlev","slug":"konstantin-yakovlev","given":"Konstantin","family":"Yakovlev","affiliation":"Federal Research Center \"Computer Science and Control\" of Russian Academy of Sciences; National Research University \"Higher School of Economics\""},{"name":"Dor Atzmon","slug":"dor-atzmon","given":"Dor","family":"Atzmon","affiliation":"Ben-Gurion University of the Negev"},{"name":"Roni Stern","slug":"roni-stern","given":"Roni","family":"Stern","affiliation":"Ben-Gurion University of the Negev"}],"abstract":"Multi-Agent Pathfinding (MAPF) is the problem of finding paths for multiple agents such that every agent reaches its goal and the agents do not collide. Most prior work on MAPF were on grids, assumed agents' actions have uniform duration, and that time is discretized into timesteps. In this work, we propose a MAPF algorithm that do not assume any of these assumptions, is complete, and provides provably optimal solutions. This algorithm is based on a novel combination of Safe Interval Path Planning (SIPP), a continuous time single agent planning algorithms, and Conflict-Based Search (CBS). We analyze this algorithm, discuss its pros and cons, and evaluate it experimentally on several standard benchmarks.","doi":"10.24963/ijcai.2019/6","url":"https://ijcai.org/proceedings/2019/6","pdf":"https://ijcai.org/proceedings/2019/0006.pdf","markdown":"https://ijcai.org/proceedings/2019/6.md","bibtex":"https://ijcai.org/proceedings/2019/bibtex/6","volume":{"slug":"2019","title":"Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2019","url":"https://ijcai.org/proceedings/2019/","year":2019,"location":"Macao","dates":"10-16 August 2019","editors":"Sarit Kraus","isbn":"978-0-9992411-4-1","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2019"},"section":"Agent-based and Multi-agent Systems","track":"Main track","number":6,"pages":{"first":39,"last":45},"keywords":["Agent-based and Multi-agent Systems: Multi-agent Planning","Heuristic Search and Game Playing: Heuristic Search"],"videos":[],"references":[{"position":1,"raw":"[Atzmon et al., 2018] D. 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