@inproceedings{25dd6442cdf94ab6b525c325fed15427,
title = "Pruning techniques for the increasing cost tree search for optimal multi-agent path finding",
abstract = "We address the problem of optimal path finding for multiple agents where agents must not collide and their total travel cost should be minimized. Previous work used traditional single-agent search variants of the A* algorithm. In (Sharon et al. 2011) we introduced a novel two-level search algorithm framework for this problem. The high-level searches a novel search tree called increasing cost tree (ICT). The low-level performs a goal test on each ICT node. The new framework, called ICT search (ICTS), showed to run faster than the previous state-of-the-art A* approach by up to three orders of magnitude in many cases. In this paper we focus on the lowlevel of ICTS which performs the goal test. We introduce a number of optional pruning techniques that can significantly speed up the goal test. We discuss these pruning techniques and provide supporting experimental results.",
author = "Guni Sharon and Roni Stern and Meir Goldenberg and Ariel Felner",
year = "2011",
month = dec,
day = "1",
language = "الإنجليزيّة",
isbn = "9781577355373",
series = "Proceedings of the 4th Annual Symposium on Combinatorial Search, SoCS 2011",
pages = "150--157",
booktitle = "Proceedings of the 4th Annual Symposium on Combinatorial Search, SoCS 2011",
note = "4th International Symposium on Combinatorial Search, SoCS 2011 ; Conference date: 15-07-2011 Through 16-07-2011",
}