Unifying Search-based and Compilation-based Approaches to Multi-agent Path Finding through Satisfiability Modulo Theories
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21240%2F19%3A00333598" target="_blank" >RIV/68407700:21240/19:00333598 - isvavai.cz</a>
Result on the web
<a href="https://ijcai19.org/" target="_blank" >https://ijcai19.org/</a>
DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Unifying Search-based and Compilation-based Approaches to Multi-agent Path Finding through Satisfiability Modulo Theories
Original language description
We unify search-based and compilation-based approaches to multi-agent path finding (MAPF) through satisfiability modulo theories (SMT). The task in MAPF is to navigate agents in an undirected graph to given goal vertices so that they do not collide. We rephrase Conflict-Based Search (CBS),one of the state-of-the-art algorithms for optimal MAPF solving, in the terms of SMT. This ideac ombines SAT-based solving known from MDD-SAT, a SAT-based optimal MAPF solver, at the low-level with conflict elimination of CBS at the high-level. Where the standard CBS branches the search after a conflict, we refine the propositional model with a disjunctive constraint. Our novel algorithm called SMT-CBS hence does not branch at the high-level but incrementally extends the propositional model. We experimentally compare SMT-CBS with CBS, ICBS, and MDD-SAT.
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/GA19-17966S" target="_blank" >GA19-17966S: intALG-MAPFg: Intelligent Algorithms for Generalized Variants of Multi-Agent Path Finding</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 Twenty-Eighth International Joint Conference on Artificial Intelligence
ISBN
978-0-9992411-4-1
ISSN
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e-ISSN
1045-0823
Number of pages
7
Pages from-to
1916-1922
Publisher name
International Joint Conferences on Artificial Intelligence Organization
Place of publication
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Event location
Macau
Event date
Aug 10, 2019
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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