Year: 2020
Type: preprint
Abstract: Conflict-Based Search (CBS) is a popular framework for solving the Multi-Agent Path Finding problem. Some of the conflicts incur a foreseeable conflict in one or both of the children nodes when splitting on them. This paper introduces a new technique, namely the head-on technique that finds out such conflicts, so they can be processed more efficiently by resolving the conflict with the potential conflict all together in one split. The proposed technique applies to all CBS-based solvers. Experimental results show that the head-on technique improves the state-of-the-art MAPF solver CBSH.
Source: arXiv (Cornell University)
Author: Yang, Lun
Institution: Jilin University
Language: English
Subfield: Computer Vision and Pattern Recognition
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W3039622282