Affiliation:
1. Federal Research Center "Computer Science and Control" of Russian Academy of Sciences
2. Peoples’ Friendship University of Russia (RUDN University)
3. National Research University "Higher School of Economics"
4. Ben Gurion University of the Negev
Abstract
Multi-Agent Pathfinding (MAPF) is the problem of finding paths for multiple agents such that every agent reaches its goal and the agents do not collide. Most prior work on MAPF were on grids, assumed agents' actions have uniform duration, and that time is discretized into timesteps. In this work, we propose a MAPF algorithm that do not assume any of these assumptions, is complete, and provides provably optimal solutions. This algorithm is based on a novel combination of Safe Interval Path Planning (SIPP), a continuous time single agent planning algorithms, and Conflict-Based Search (CBS). We analyze this algorithm, discuss its pros and cons, and evaluate it experimentally on several standard benchmarks.
Publisher
International Joint Conferences on Artificial Intelligence Organization
Cited by
23 articles.
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