Boolean Satisfiability Approach to Optimal Multi-agent Path Finding under the Sum of Costs Objective: (Extended Abstract)
نویسندگان
چکیده
This paper focuses on finding optimal solutions to the multiagent path finding (MAPF) problem over undirected graphs where the task is to find non-colliding paths for multiple agents, each with a different start and goal position. An encoding of MAPF to Boolean satisfiability (SAT) is already known to the makespan optimal variant of the problem. In this paper we present the first SAT-solver for minimizing the sum of costs enabled by introducing cardinality constraints into the SAT encoding. An experimental evaluation on grid graphs indicate promising performance of the new SAT-based method in comparison with the best variants of previous sum-of-costs search solvers.
منابع مشابه
Efficient SAT Approach to Multi-Agent Path Finding Under the Sum of Costs Objective
In the multi-agent path finding (MAPF) the task is to find non-conflicting paths for multiple agents. In this paper we present the first SAT-solver for the sum-of-costs variant of MAPF which was previously only solved by search-based methods. Using both a lower bound on the sum-of-costs and an upper bound on the makespan, we are able to have a reasonable number of variables in our SAT encoding....
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