The Increasing Cost Tree Search for Optimal Multi-agent Pathfinding
ثبت نشده
چکیده
We address the problem of optimal path finding for multiple agents where agents must not collide and their total travel cost should be minimized. Previous work used traditional single-agent search variants of the A* algorithm. We present a novel formalization for this problem which includes a search tree called increasing cost tree (ICT) and a corresponding search algorithm that finds optimal solutions. We analyze this new formalization and compare it to the traditional A* search formalization. Experimental results on various domains show the benefits and drawbacks of this approach. A speedup of up to 3 orders of magnitude was obtained in a number of cases.
منابع مشابه
The Increasing Cost Tree Search for Optimal Multi-Agent Pathfinding
We address the problem of optimal path finding for multiple agents where agents must not collide and their total travel cost should be minimized. Previous work used traditional single-agent search variants of the A* algorithm. We present a novel formalization for this problem which includes a search tree called the increasing cost tree (ICT) and a corresponding search algorithm that finds optim...
متن کاملPruning Techniques for the Increasing Cost Tree Search for Optimal Multi-agent Pathfinding
We address the problem of optimal path finding for multiple agents where agents must not collide and their total travel cost should be minimized. Previous work used traditional single-agent search variants of the A* algorithm. In (Sharon et al. 2011) we introduced a novel two-level search algorithm framework for this problem. The high-level searches a novel search tree called increasing cost tr...
متن کاملFinding Bounded Suboptimal Multi-Agent Path Planning Solutions Using Increasing Cost Tree Search (Extended Abstract)
The Increasing Cost Tree Search (ICTS) algorithm is used to produce optimal solutions to the multi-agent path finding problem (MAPF). In this problem, multiple agents are trying to reach their goals without conflicting with each other, while minimizing the total cost of the paths. ICTS has been shown to be very effective in finding optimal solutions. In this paper we consider the problem of fin...
متن کاملA Polynomial-Time Algorithm for Non-Optimal Multi-Agent Pathfinding
Multi-agent pathfinding, where multiple agents must travel to their goal locations without getting stuck, has been studied in both theoretical and practical contexts, with a variety of both optimal and sub-optimal algorithms proposed for solving problems. Recent work has shown that there is a lineartime check for whether a multi-agent pathfinding problem can be solved in a tree, however this wa...
متن کاملMulti-agent RRT*: Sampling-based Cooperative Pathfinding (Extended Abstract)
Cooperative pathfinding is a problem of finding a set of non-conflicting trajectories for a number of mobile agents. Its applications include planning for teams of mobile robots, such as autonomous aircrafts, cars, or underwater vehicles. The state-of-the-art algorithms for cooperative pathfinding typically rely on some heuristic forward-search pathfinding technique, where A* is often the algor...
متن کامل