The DOI matches its Crossref record; 43 of the 43 references it cites were found in a registry or an index.
Conflict-based search for optimal multi-agent pathfinding
Open accessAbstract
In the multi agent path finding problem (MAPF) paths should be found for several agents, each with a different start and goal position such that agents do not collide. Previous optimal solvers applied global A*-based searches. We present a new search algorithm called Conflict Based Search (CBS). CBS is a two-level algorithm. At the high level, a search is performed on a tree based on conflicts between agents. At the low level, a search is performed only for a single agent at a time. In many cases this reformulation enables CBS to examine fewer states than A* while still maintaining optimality. We analyze CBS and show its benefits and drawbacks. Experimental results on various problems shows a speedup of up to a full order of magnitude over previous approaches.
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Cites
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A review of cooperative multi-agent deep reinforcement learning
Oroojlooy, A., & Hajinezhad, D. (2023) · Applied Intelligence · doi:10.1007/s10489-022-04105-y · Cited by 482
PRIMAL: Pathfinding via Reinforcement and Imitation Multi-Agent Learning
Sartoretti, G., Kerr, J., Shi, Y., Wagner, G., Kumar, T. K. S., Koenig, S., & Choset, H. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2903261 · Cited by 417
Trajectory Planning for Quadrotor Swarms
Honig, W., Preiss, J. A., Kumar, T. K. S., Sukhatme, G. S., & Ayanian, N. (2018) · IEEE Transactions on Robotics · doi:10.1109/tro.2018.2853613 · Cited by 315
Persistent and Robust Execution of MAPF Schedules in Warehouses
Honig, W., Kiesel, S., Tinka, A., Durham, J. W., & Ayanian, N. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2894217 · Cited by 139
Fujitani, Y., Yamauchi, T., Miyashita, Y., & Sugawara, T. (2022) · Procedia Computer Science · doi:10.1016/j.procs.2022.09.212 · Cited by 9
Metadata
- Authors
- Sharon, G., Stern, R., Felner, A., & Sturtevant, N. R.
- Venue
- Artificial Intelligence
- Publisher
- Elsevier BV
- Published
- 2015-02
- Volume
- 219
- Pages
- 40-66
- ISSN
- 0004-3702 (ISSN-L)
- OpenAlex
- W1989407213
- Cited by
- 1,242
- References
- 43
- FWCI
- 14.84
- Type
- journal article
- Language
- en
- Open access
- bronze
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