TY - GEN
T1 - Generalized and sub-optimal bipartite constraints for conflict-based search
AU - Walker, Thayne T.
AU - Sturtevant, Nathan R.
AU - Felner, Ariel
N1 - Publisher Copyright: Copyright © 2020, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.
PY - 2020/1/1
Y1 - 2020/1/1
N2 - The main idea of conflict-based search (CBS), a popular, state-of-the-art algorithm for multi-agent pathfinding is to resolve conflicts between agents by systematically adding constraints to agents. Recently, CBS has been adapted for new domains and variants, including non-unit costs and continuous time settings. These adaptations require new types of constraints. This paper introduces a new automatic constraint generation technique called bipartite reduction (BR). BR converts the constraint generation step of CBS to a surrogate bipartite graph problem. The properties of BR guarantee completeness and optimality for CBS. Also, BR’s properties may be relaxed to obtain suboptimal solutions. Empirical results show that BR yields significant speedups in 2k connected grids over the previous state-of-the-art for both optimal and suboptimal search.
AB - The main idea of conflict-based search (CBS), a popular, state-of-the-art algorithm for multi-agent pathfinding is to resolve conflicts between agents by systematically adding constraints to agents. Recently, CBS has been adapted for new domains and variants, including non-unit costs and continuous time settings. These adaptations require new types of constraints. This paper introduces a new automatic constraint generation technique called bipartite reduction (BR). BR converts the constraint generation step of CBS to a surrogate bipartite graph problem. The properties of BR guarantee completeness and optimality for CBS. Also, BR’s properties may be relaxed to obtain suboptimal solutions. Empirical results show that BR yields significant speedups in 2k connected grids over the previous state-of-the-art for both optimal and suboptimal search.
UR - http://www.scopus.com/inward/record.url?scp=85103673047&partnerID=8YFLogxK
U2 - https://doi.org/10.1609/aaai.v34i05.6219
DO - https://doi.org/10.1609/aaai.v34i05.6219
M3 - منشور من مؤتمر
T3 - AAAI 2020 - 34th AAAI Conference on Artificial Intelligence
SP - 7277
EP - 7284
BT - AAAI 2020 - 34th AAAI Conference on Artificial Intelligence
T2 - 34th AAAI Conference on Artificial Intelligence, AAAI 2020
Y2 - 7 February 2020 through 12 February 2020
ER -