Improved Heuristics for Multi-Agent Path Finding with Conflict-Based Search

被引：0
|
作者：
Li, Jiaoyang [1 ]
Feiner, Ariel [2 ]
Boyarski, Eli [2 ]
Ma, Hang [1 ]
Koenig, Sven [1 ]
机构：
[1] Univ Southern Calif, Los Angeles, CA 90007 USA
[2] Ben Gurion Univ Negev, Beer Sheva, Israel
来源：
PROCEEDINGS OF THE TWENTY-EIGHTH INTERNATIONAL JOINT CONFERENCE ON ARTIFICIAL INTELLIGENCE | 2019年
基金：
美国国家科学基金会;
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Conflict-Based Search (CBS) and its enhancements are among the strongest algorithms for Multi-Agent Path Finding. Recent work introduced an admissible heuristic to guide the high-level search of CBS. In this work, we prove the limitation of this heuristic, as it is based on cardinal conflicts only. We then introduce two new admissible heuristics by reasoning about the pairwise dependencies between agents Empirically, CBS with either new heuristic significantly improves the success rate over CBS with the recent heuristic and reduces the number of expanded nodes and runtime by up to a factor of 50.
引用
收藏
页码：442 / 449
页数：8
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