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Multi-Agent Path Finding with Temporal Jump Point Search

Authors

Shuli Hu,Daniel D. Harabor,Graeme Gange,Peter J. Stuckey,Nathan R. Sturtevant

Northeast Normal University,Monash University,Monash University,Monash University,University of Alberta


Proceedings:

Book One

Volume

Issue:

Proceedings of the International Conference on Automated Planning and Scheduling, 32

Track:

Main Track

Downloads:

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Abstract:

Temporal Jump Point Search (JPST) is a recently introduced algorithm for grid-optimal pathfinding among dynamic temporal obstacles. In this work we consider JPST as a low-level planner in Multi-Agent Path Finding (MAPF). We investigate how the canonical ordering of JPST can negatively impact MAPF performance and we consider several strategies which allow us to overcome these limitations. Experiments show our new CBS/JPST approach can substantially improve on CBS/SIPP, a contemporary and leading method from the area.

DOI:

10.1609/icaps.v32i1.19798


ICAPS

Proceedings of the International Conference on Automated Planning and Scheduling, 32