Don’t Split, Try To Work It Out: Bypassing Conflicts in Multi-Agent Pathfinding

Conflict-Based Search (CBS) is a recently introduced algorithm for Multi-AgentPath Finding (MAPF) whose runtime is exponential in the number of conflictsfound between the agents' paths. We present an improved version of CBS thatbypasses conflicts thereby reducing the CBS search tree. Experimental resultsshow that this improvement reduces the runtime by an order of magnitude in manycases.