Conflict-Based Search for Optimal Multi-Agent Path Finding

Proceedings of the International Symposium on Combinatorial Search, 5

Volume

Vol. 5 No. 1 (2012): Fifth Annual Symposium on Combinatorial Search

Extended Abstracts of Papers Presented Elsewhere

We present a new two-level search algorithm for optimal multi-agent path finding called Conflict Based Search (CBS). At the high level, a search is performed on a tree based on conflicts between agents. At the low level, a search is performed only for a single agent at a time. Experimental results on various problems shows a speedup of up to a full order of magnitude over previous approaches.

10.1609/socs.v3i1.18222