ICBS: Improved Conflict-Based Search Algorithm for Multi-Agent Pathfinding

Conflict-Based Search (CBS) and its enhancements, Meta-Agent CBS and bypassing conflicts are amongst the strongest newly introduced algorithms for Multi-Agent Path Finding. This paper introduces two new improvements to CBS and incorporates them into a coherent, improved version of CBS, namely ICBS. Experimental results show that each of these improvements further reduces the runtime over the existing CBS-based approaches. When all improvements are combined, an even larger improvement is achieved, producing state-of-the art results for a number of domains.

Authors

• Eli Boyarski
• Ariel Felner Computer and Information Sciences, Ben-Gurion University of the Negev
• Roni Stern Ben-Gurion University of the Negev
• Guni Sharon Texas A&M University
• David Tolpin Ben-Gurion University
• Oded Betzalel
• Eyal Shimony Ben-Gurion University of the Negev

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