Learning Conflicts from Experience

Multi-agent path finding has been proven to be a PSPACE-hard problem. Generating such a centralised multi-agent plan can be avoided, by allowing agents to plan their paths separately. However, this results in an increased number of collisions and agents must replan frequently. In this paper we present a framework for multi-agent path planning, which allows agents to plan independently and solve conflicts locally when they occur. The framework is a generalisation of the CQ-learning algorithm which learns sparse interactions between agents in a multi-agent reinforcement learning setting. 1