Don't Split, Try To Work It Out: Bypassing Conflicts in Multi-Agent Pathfinding
Eli Boyarski, Ariel Felner, Guni Sharon, Roni Stern · Proceedings of the International Conference on Automated Planning and Scheduling · 2015
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.