Symmetry-Breaking Constraints for Grid-Based Multi-Agent Path Finding

Multi-Agent Path Finding with Kinematic Constraints

Multi-Agent Path Finding (MAPF) is well studied in both AI and robotics. Given a discretized environment and agents with assigned start and goal locations, MAPF solvers from AI find collision-free paths for hundreds of agents with userprovided sub-optimality guarantees. However, they ignore that actual robots are subject to kinematic constraints (such as finite maximum velocity limits) and suff...

Summary: Multi-Agent Path Finding with Kinematic Constraints

Multi-Agent Path Finding (MAPF) is well studied in both AI and robotics. Given a discretized environment and agents with assigned start and goal locations, MAPF solvers from AI find collision-free paths for hundreds of agents with user-provided sub-optimality guarantees. However, they ignore that actual robots are subject to kinematic constraints (such as velocity limits) and suffer from imperf...

Grid-Based Path-Finding

Conflict-Based Search for Optimal Multi-Agent Path Finding

In the multi agent path finding problem (MAPF) paths should be found for several agents, each with a different start and goal position such that agents do not collide. Previous optimal solvers applied global A*-based searches. We present a new search algorithm called Conflict Based Search (CBS). CBS is a two-level algorithm. At the high level, a search is performed on a tree based on conflicts ...

Independence Detection in SAT-based Multi-Agent Path Finding

The problem of optimal multi-agent path finding (MAPF) is addressed in this paper. The task is to find optimal paths for mobile agents where each of them need to reach a unique goal position from the given start with respect to the given objective function. Agents must not collide with each other which is a source of combinatorial difficulty of the problem. An abstraction of the problem where d...