Conflict-based search for optimal multi-agent path finding

Guni Sharon, Roni Stern, Ariel Felner, Nathan Sturtevant

Research output: Contribution to conferencePaperpeer-review


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.

Original languageEnglish
Number of pages7
StatePublished - 1 Dec 2012
Event2012 AAAI Workshop - Toronto, ON, Canada
Duration: 22 Jul 201222 Jul 2012


Conference2012 AAAI Workshop
CityToronto, ON

All Science Journal Classification (ASJC) codes

  • General Engineering

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