UniAGENT: Reduced Time-Expansion Graphs and Goal Decomposition in Sub-optimal Cooperative Path Finding

Proceedings of the International Symposium on Combinatorial Search, 8

Volume

Vol. 8 No. 1 (2015): Eighth Annual Symposium on Combinatorial Search

Abstracts

Solving cooperative path finding (CPF) by translating it to propositional satisfiability represents a viable option in highly constrained situations. The task in CPF is to relocate agents from their initial positions to given goals in a collision free manner. In this paper, we propose a reduced time expansion that is focused on makespan sub-optimal solving of the problem. The suggested reduced time expansion is especially beneficial in conjunction with a goal decomposition where agents are relocated one by one.

10.1609/socs.v6i1.18344