Iterative-Deepening Conflict-Based Search
Eli Boyarski, Ariel Felner, Daniel Harabor, Peter J. Stuckey, Liron Cohen, Jiaoyang Li, Sven Koenig
Abstract
Conflict-Based Search (CBS) is a leading algorithm for optimal Multi-Agent Path Finding (MAPF). CBS variants typically compute MAPF solutions using some form of A* search. However, they often do so under strict time limits so as to avoid exhausting the available memory. In this paper, we present IDCBS, an iterative-deepening variant of CBS which can be executed without exhausting the memory and without strict time limits. IDCBS can be substantially faster than CBS due to incremental methods that it uses when processing CBS nodes.
Topics & Concepts
Computer scienceIterative deepening depth-first searchPath (computing)Iterative methodBidirectional searchAlgorithmExecution timeSearch algorithmParallel computingMathematical optimizationBest-first searchMathematicsBeam searchOperating systemRobotic Path Planning AlgorithmsAI-based Problem Solving and PlanningRobotics and Sensor-Based Localization