{"type":"ScholarlyArticle","title":"Multi-Directional Heuristic Search","authors":[{"name":"Dor Atzmon","slug":"dor-atzmon","given":"Dor","family":"Atzmon","affiliation":"Ben-Gurion University"},{"name":"Jiaoyang Li","slug":"jiaoyang-li","given":"Jiaoyang","family":"Li","affiliation":"University of Southern California"},{"name":"Ariel Felner","slug":"ariel-felner","given":"Ariel","family":"Felner","affiliation":"Ben-Gurion University"},{"name":"Eliran Nachmani","slug":"eliran-nachmani","given":"Eliran","family":"Nachmani","affiliation":"Ben-Gurion University"},{"name":"Shahaf Shperberg","slug":"shahaf-shperberg","given":"Shahaf","family":"Shperberg","affiliation":"Ben-Gurion University"},{"name":"Nathan Sturtevant","slug":"nathan-sturtevant","given":"Nathan","family":"Sturtevant","affiliation":"University of Alberta"},{"name":"Sven Koenig","slug":"sven-koenig","given":"Sven","family":"Koenig","affiliation":"University of Southern California"}],"abstract":"In the Multi-Agent Meeting problem (MAM), the task is to find a meeting location for multiple agents, as well as a path for each agent to that location. In this paper, we introduce MM*, a Multi-Directional Heuristic Search algorithm that finds the optimal meeting location under different cost functions. MM* generalizes the Meet in the Middle (MM) bidirectional search algorithm to the case of finding an optimal meeting location for multiple agents. Several admissible heuristics are proposed, and experiments demonstrate the benefits of MM*.","doi":"10.24963/ijcai.2020/562","url":"https://ijcai.org/proceedings/2020/562","pdf":"https://ijcai.org/proceedings/2020/0562.pdf","markdown":"https://ijcai.org/proceedings/2020/562.md","bibtex":"https://ijcai.org/proceedings/2020/bibtex/562","volume":{"slug":"2020","title":"Proceedings of the Twenty-Ninth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2020","url":"https://ijcai.org/proceedings/2020/","year":2020,"location":"Yokohama","dates":"January 2021 (postponed from 11-17 July 2020)","editors":"Christian Bessiere","isbn":"978-0-9992411-6-5","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2020"},"section":"Planning and Scheduling","track":"Main track","number":562,"pages":{"first":4062,"last":4068},"keywords":["Agent-based and Multi-agent Systems: Multi-agent Planning","Planning and Scheduling: Planning and Scheduling","Heuristic Search and Game Playing: Heuristic Search"],"videos":[{"label":"Video","url":"https://videos.ijcai20.org/25028/file_25028.m3u8","length_sec":290,"provider":"hls"}],"references":[{"position":1,"raw":"[Chen, 1984] Reuven Chen. 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