On SAT-Based Approaches for Multi-Agent Path Finding with the Sum-of-Costs Objective
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216208%3A11320%2F19%3A10408110" target="_blank" >RIV/00216208:11320/19:10408110 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
On SAT-Based Approaches for Multi-Agent Path Finding with the Sum-of-Costs Objective
Original language description
Multi-Agent Path Finding (MAPF) deals with the problem of finding collision-free paths for a set of agents. Each agent moves from its start location to its destination location in a shared environment represented by a graph. Reductionbased solving approaches for MAPF, for example, reduction to SAT, exploit a time-expanded layered graph, where each layer corresponds to specific time. Hence, these approaches are natural for minimizing Makespan (the shortest time until all agents reach their destinations). Modeling the other frequently used objective, namely Sum of Costs (SoC; the sum of paths lengths of all agents) is more difficult as the solution with the smallest SoC may not be reached in the timeexpanded graph with the smallest Makespan. In this paper we suggest a novel approach to estimate the Makespan, that guarantees the existence of a SoC-optimal solution. We also propose a novel pre-processing technique reducing the number of variables in the SAT model. The approach is empirically compared with an existing reduction-based method as well as with the state-of-the-art search-based optimal MAPF solver.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/GA19-02183S" target="_blank" >GA19-02183S: Smart Swarms: From Theory to Practice</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the Twelfth International Symposium on Combinatorial Search
ISBN
978-1-57735-808-4
ISSN
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e-ISSN
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Number of pages
8
Pages from-to
10-17
Publisher name
AAAI Press
Place of publication
neuveden
Event location
Napa
Event date
Jul 16, 2019
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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