Integration of Independence Detection into SAT-based Optimal Multi-Agent Path Finding A Novel SAT-based Optimal MAPF Solver

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216208%3A11320%2F17%3A10366718" target="_blank" >RIV/00216208:11320/17:10366718 - isvavai.cz</a>

Result on the web

<a href="http://dx.doi.org/10.5220/0006126000850095" target="_blank" >http://dx.doi.org/10.5220/0006126000850095</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.5220/0006126000850095" target="_blank" >10.5220/0006126000850095</a>

Result language

angličtina

Original language name

Integration of Independence Detection into SAT-based Optimal Multi-Agent Path Finding A Novel SAT-based Optimal MAPF Solver

Original language description

The problem of optimal multi-agent path finding (MAPF) is addressed in this paper. The task is to find optimal paths for mobile agents where each of them need to reach a unique goal position from the given start with respect to the given cost function. Agents must not collide with each other which is a source of combinatorial difficulty of the problem. An abstraction of the problem where discrete agents move in an undirected graph is usually adopted in the literature. Specifically, it is shown in this paper how to integrate independence detection (ID) technique developed for search based MAPF solving into a compilation-based technique that translates the instance of the MAPF problem into propositional satisfiability formalism (SAT). The independence detection technique allows decomposition of the instance consisting of a given number of agents into instances consisting of small groups of agents with no interaction across groups. These small instances can be solved independently and the solution of the original instance is combined from small solutions eventually. The reduction of the size of instances translated to the target SAT formalism has a significant impact on performance as shown in the presented experimental evaluation. The new solver integrating SAT translation and the independence detection is shown to be state-of-the-art in its class for optimal MAPF solving.

Czech name

—

Czech description

—

Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

<a href="/en/project/8G15027" target="_blank" >8G15027: INTEGRATION OF HEURISTIC SEARCH AND COMPILATION-BASED TECHNIQUES FOR MULTI-AGENT PATH-FINDING</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year

2017

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

ICAART: PROCEEDINGS OF THE 9TH INTERNATIONAL CONFERENCE ON AGENTS AND ARTIFICIAL INTELLIGENCE, VOL 2

ISBN

978-989-758-220-2

ISSN

—

e-ISSN

neuvedeno

Number of pages

11

Pages from-to

85-95

Publisher name

SCITEPRESS

Place of publication

SETUBAL

Event location

Porto

Event date

Feb 24, 2017

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

000413244200008