Conflict-Based Increasing Cost Search
| multi-agent search heuristic search planning |
PaperID: 345
pdf
poster
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| Two popular optimal search-based solvers for the multi-agent pathfinding (MAPF) problem, Conflict-Based Search (CBS) and Increasing Cost Tree Search (ICTS) have been extended separately for non-unit costs and for symmetry breaking with great success. However, a generalized approach to symmetry breaking in non-unit cost domains remains an open question. In this work, we introduce a new algorithm: Conflict-Based Increasing Cost Search (CBICS), which is capable of applying symmetry breaking in non-unit cost domains by combining the strengths of CBS and ICTS. CBICS shows better performance in both unit and non-unit cost domains in many cases. | |
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