{"type":"ScholarlyArticle","title":"Iterative-Deepening Conflict-Based Search","authors":[{"name":"Eli Boyarski","slug":"eli-boyarski","given":"Eli","family":"Boyarski","affiliation":"Ben-Gurion University of the Negev"},{"name":"Ariel Felner","slug":"ariel-felner","given":"Ariel","family":"Felner","affiliation":"Ben-Gurion University of the Negev"},{"name":"Daniel Harabor","slug":"daniel-harabor","given":"Daniel","family":"Harabor","affiliation":"Monash University"},{"name":"Peter J. Stuckey","slug":"peter-j-stuckey","given":"Peter J.","family":"Stuckey","affiliation":"Monash University"},{"name":"Liron Cohen","slug":"liron-cohen","given":"Liron","family":"Cohen","affiliation":"University of Southern California"},{"name":"Jiaoyang Li","slug":"jiaoyang-li","given":"Jiaoyang","family":"Li","affiliation":"University of Southern California"},{"name":"Sven Koenig","slug":"sven-koenig","given":"Sven","family":"Koenig","affiliation":"University of Southern California"}],"abstract":"Conflict-Based Search (CBS) is a leading algorithm for optimal Multi-Agent Path Finding (MAPF). CBS variants typically compute MAPF solutions using some form of A* search. However, they often do so under strict time limits so as to avoid exhausting the available memory. In this paper, we present IDCBS, an iterative-deepening variant of CBS which can be executed without exhausting the memory and without strict time limits. IDCBS can be substantially faster than CBS due to incremental methods that it uses when processing CBS nodes.","doi":"10.24963/ijcai.2020/565","url":"https://ijcai.org/proceedings/2020/565","pdf":"https://ijcai.org/proceedings/2020/0565.pdf","markdown":"https://ijcai.org/proceedings/2020/565.md","bibtex":"https://ijcai.org/proceedings/2020/bibtex/565","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":565,"pages":{"first":4084,"last":4090},"keywords":["Planning and Scheduling: Planning and Scheduling","Heuristic Search and Game Playing: Heuristic Search","Agent-based and Multi-agent Systems: Multi-agent Planning"],"videos":[{"label":"Video","url":"https://videos.ijcai20.org/25406/file_25406.m3u8","length_sec":298,"provider":"hls"}],"references":[{"position":1,"raw":"[Barer et al., 2014] Max Barer, Guni Sharon, Roni Stern, and Ariel Felner. 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