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Home / Proceedings / Proceedings of the International Symposium on Combinatorial Search

Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks

February 1, 2023

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Authors

Roni Stern,Nathan Sturtevant,Ariel Felner,Sven Koenig,Hang Ma,Thayne Walker,Jiaoyang Li,Dor Atzmon,Liron Cohen,T. K. Kumar,Roman Barták,Eli Boyarski

Ben-Gurion University of the Negev,University of Alberta,Ben-Gurion University of the Negev,University of Southern California,University of Southern California,University of Denver,University of Southern California,Ben Gurion University of the Negev,University of Southern California,University of Southern California,Charles University,Ben Gurion University of the Negev


DOI:

10.1609/socs.v10i1.18510


Abstract:

The multi-agent pathfinding problem (MAPF) is the fundamental problem of planning paths for multiple agents, where the key constraint is that the agents will be able to follow these paths concurrently without colliding with each other. Applications of MAPF include automated warehouses, autonomous vehicles, and robotics. Research on MAPF has been flourishing in the past couple of years. Different MAPF research papers assume different sets of assumptions, e.g., whether agents can traverse the same road at the same time, and have different objective functions, e.g., minimize makespan or sum of agents' actions costs. These assumptions and objectives are sometimes implicitly assumed or described informally. This makes it difficult for establishing appropriate baselines for comparison in research papers, as well as making it difficult for practitioners to find the papers relevant to their concrete application. This paper aims to fill this gap and facilitate future research and practitioners by providing a unifying terminology for describing the common MAPF assumptions and objectives. In addition, we also provide pointers to two MAPF benchmarks. In particular, we introduce a new grid-based benchmark for MAPF, and demonstrate experimentally that it poses a challenge to contemporary MAPF algorithms.

Topics: SOCS

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Roni Stern,Nathan Sturtevant,Ariel Felner,Sven Koenig,Hang Ma,Thayne Walker,Jiaoyang Li,Dor Atzmon,Liron Cohen,T. K. Kumar,Roman Barták,Eli Boyarski Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks Proceedings of the International Symposium on Combinatorial Search (2019) 151-158.

Roni Stern,Nathan Sturtevant,Ariel Felner,Sven Koenig,Hang Ma,Thayne Walker,Jiaoyang Li,Dor Atzmon,Liron Cohen,T. K. Kumar,Roman Barták,Eli Boyarski Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks SOCS 2019, 151-158.

Roni Stern,Nathan Sturtevant,Ariel Felner,Sven Koenig,Hang Ma,Thayne Walker,Jiaoyang Li,Dor Atzmon,Liron Cohen,T. K. Kumar,Roman Barták,Eli Boyarski (2019). Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks. Proceedings of the International Symposium on Combinatorial Search, 151-158.

Roni Stern,Nathan Sturtevant,Ariel Felner,Sven Koenig,Hang Ma,Thayne Walker,Jiaoyang Li,Dor Atzmon,Liron Cohen,T. K. Kumar,Roman Barták,Eli Boyarski. Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks. Proceedings of the International Symposium on Combinatorial Search 2019 p.151-158.

Roni Stern,Nathan Sturtevant,Ariel Felner,Sven Koenig,Hang Ma,Thayne Walker,Jiaoyang Li,Dor Atzmon,Liron Cohen,T. K. Kumar,Roman Barták,Eli Boyarski. 2019. Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks. "Proceedings of the International Symposium on Combinatorial Search". 151-158.

Roni Stern,Nathan Sturtevant,Ariel Felner,Sven Koenig,Hang Ma,Thayne Walker,Jiaoyang Li,Dor Atzmon,Liron Cohen,T. K. Kumar,Roman Barták,Eli Boyarski. (2019) "Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks", Proceedings of the International Symposium on Combinatorial Search, p.151-158

Roni Stern,Nathan Sturtevant,Ariel Felner,Sven Koenig,Hang Ma,Thayne Walker,Jiaoyang Li,Dor Atzmon,Liron Cohen,T. K. Kumar,Roman Barták,Eli Boyarski, "Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks", SOCS, p.151-158, 2019.

Roni Stern,Nathan Sturtevant,Ariel Felner,Sven Koenig,Hang Ma,Thayne Walker,Jiaoyang Li,Dor Atzmon,Liron Cohen,T. K. Kumar,Roman Barták,Eli Boyarski. "Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks". Proceedings of the International Symposium on Combinatorial Search, 2019, p.151-158.

Roni Stern,Nathan Sturtevant,Ariel Felner,Sven Koenig,Hang Ma,Thayne Walker,Jiaoyang Li,Dor Atzmon,Liron Cohen,T. K. Kumar,Roman Barták,Eli Boyarski. "Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks". Proceedings of the International Symposium on Combinatorial Search, (2019): 151-158.

Roni Stern,Nathan Sturtevant,Ariel Felner,Sven Koenig,Hang Ma,Thayne Walker,Jiaoyang Li,Dor Atzmon,Liron Cohen,T. K. Kumar,Roman Barták,Eli Boyarski. Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks. SOCS[Internet]. 2019[cited 2023]; 151-158.


ISSN: 2832-9163


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