Multi-Directional Search

In the Multi-Agent Meeting (MAM) problem, the task is to find a meeting location for multiple agents, as well as a path for each agent to that location. In this paper, we introduce MM*, a Multi-Directional Search algorithm that finds the optimal meeting location under different cost functions. MM* generalizes the Meet in the Middle (MM) bidirectional search algorithm to the case of finding optimal meeting locations for multiple agents. A number of admissible heuristics are proposed and experiments demonstrate the benefits of MM*.

Authors

• Dor Atzmon
• Jiaoyang Li 0001
• Ariel Felner
• Eliran Nachmani
• Shahaf S. Shperberg
• Nathan R. Sturtevant
• Sven Koenig

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