Sub-Optimal SAT-Based Approach to Multi-Agent Path-Finding Problem

Proceedings of the International Symposium on Combinatorial Search, 11

Volume

Vol. 11 No. 1 (2018): Eleventh Annual Symposium on Combinatorial Search

Full Papers

In multi-agent path finding (MAPF) the task is to find nonconflicting paths for multiple agents. In this paper we focus on finding suboptimal solutions for MAPF for the sum-of-costs variant. Recently, a SAT-based approached was developed to solve this problem and proved beneficial in many cases when compared to other search-based solvers. In this paper, we present SAT-based unbounded- and bounded-suboptimal algorithms and compare them to relevant algorithms. Experimental results show that in many case the SAT-based solver significantly outperforms the search-based solvers.

10.1609/socs.v9i1.18456