TY - GEN
T1 - Boolean satisfiability approach to optimal multi-agent path finding under the sum of costs objective
AU - Surynek, Pavel
AU - Felner, Ariel
AU - Stern, Roni
AU - Boyarski, Eli
N1 - Publisher Copyright: Copyright © 2016, International Foundation for Autonomous Agents and Multiagent Systems (www.ifaamas.org). All rights reserved.
PY - 2016/1/1
Y1 - 2016/1/1
N2 - This paper focuses on finding optimal solutions to the multiagent path finding (MAPF) problem over undirected graphs where the task is to find non-colliding paths for multiple agents, each with a different start and goal position. An encoding of MAPF to Boolean satisfiability (SAT) is already known to the makespan optimal variant of the problem. In this paper we present the first SAT-solver for minimizing the sum of costs enabled by introducing cardinality constraints into the SAT encoding. An experimental evaluation on grid graphs indicate promising performance of the new SAT-based method in comparison with the best variants of previous sum-of-costs search solvers.
AB - This paper focuses on finding optimal solutions to the multiagent path finding (MAPF) problem over undirected graphs where the task is to find non-colliding paths for multiple agents, each with a different start and goal position. An encoding of MAPF to Boolean satisfiability (SAT) is already known to the makespan optimal variant of the problem. In this paper we present the first SAT-solver for minimizing the sum of costs enabled by introducing cardinality constraints into the SAT encoding. An experimental evaluation on grid graphs indicate promising performance of the new SAT-based method in comparison with the best variants of previous sum-of-costs search solvers.
KW - Boolean satisfiability (SAT)
KW - Makespan objective
KW - Multi-agent path finding (MAPF)
KW - Sum of costs objective
UR - https://www.scopus.com/pages/publications/85014255807
M3 - Conference contribution
T3 - Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS
SP - 1435
EP - 1436
BT - AAMAS 2016 - Proceedings of the 2016 International Conference on Autonomous Agents and Multiagent Systems
T2 - 15th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2016
Y2 - 9 May 2016 through 13 May 2016
ER -