@inproceedings{5e4bacae729e41a0b7e088c2950d64e5,
title = "Conflict-Based Increasing Cost Search",
abstract = "Two popular optimal search-based solvers for the multi-agent pathfinding (MAPF) problem, Conflict-Based Search (CBS) and Increasing Cost Tree Search (ICTS), have been extended separately for continuous time domains and symmetry breaking. However, an approach to symmetry breaking in continuous time domains remained elusive. In this work, we introduce a new algorithm, Conflict-Based Increasing Cost Search (CBICS), which is capable of symmetry breaking in continuous time domains by combining the strengths of CBS and ICTS. Our experiments show that CBICS often finds solutions faster than CBS and ICTS in both unit time and continuous time domains.",
author = "Walker, {Thayne T.} and Sturtevant, {Nathan R.} and Ariel Felner and Han Zhang and Jiaoyang Li and Kumar, {T. K.Satish}",
note = "Publisher Copyright: Copyright {\textcopyright} 2021, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.; 31st International Conference on Automated Planning and Scheduling, ICAPS 2021 ; Conference date: 02-08-2021 Through 13-08-2021",
year = "2021",
month = jan,
day = "1",
doi = "10.1609/icaps.v31i1.15984",
language = "American English",
series = "Proceedings International Conference on Automated Planning and Scheduling, ICAPS",
pages = "385--395",
editor = "Susanne Biundo and Minh Do and Robert Goldman and Michael Katz and Qiang Yang and Zhuo, {Hankz Hankui}",
booktitle = "31st International Conference on Automated Planning and Scheduling, ICAPS 2021",
}