Multi-Agent Path Finding with Continuous Time Using SAT Modulo Linear Real Arithmetic

Tomáš Kolárik; Tomáš Kolárik; Stefan Ratschan; Pavel Surynek

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Paper

Multi-Agent Path Finding with Continuous Time Using SAT Modulo Linear Real Arithmetic

Topics: Multi-Agent Systems; Planning and Scheduling; Robot and Multi-Robot Systems

In Proceedings of the 16th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART, 47-58, 2024 , Rome, Italy

Authors: Tomáš Kolárik ^{1

;

2} ; Stefan Ratschan ¹ and Pavel Surynek ²

Affiliations: ¹ Institute of Computer Science of the Czech Academy of Sciences, Czech Republic ; ² Faculty of Information Technology, Czech Technical University in Prague, Czech Republic

Keyword(s): Multi-Agent Path Finding, Satisfiability Modulo Theories.

Abstract: This paper introduces a new approach to solving a continuous-time version of the multi-agent path finding problem. The algorithm translates the problem into an extension of the classical Boolean satisfiability problem, satisfiability modulo theories (SMT), that can be solved by off-the-shelf solvers. This enables the exploitation of conflict generalization techniques that such solvers can handle. Computational experiments show that the new approach scales better with respect to the available computation time than state-of-the art approaches and is usually able to avoid their exponential behavior on a class of benchmark problems modeling a typical bottleneck situation.

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Paper citation in several formats:

Kolárik, T.; Ratschan, S. and Surynek, P. (2024). Multi-Agent Path Finding with Continuous Time Using SAT Modulo Linear Real Arithmetic. In Proceedings of the 16th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART; ISBN 978-989-758-680-4; ISSN 2184-433X, SciTePress, pages 47-58. DOI: 10.5220/0012379700003636

@conference{icaart24,
author={Tomáš Kolárik. and Stefan Ratschan. and Pavel Surynek.},
title={Multi-Agent Path Finding with Continuous Time Using SAT Modulo Linear Real Arithmetic},
booktitle={Proceedings of the 16th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART},
year={2024},
pages={47-58},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012379700003636},
isbn={978-989-758-680-4},
issn={2184-433X},
}

TY - CONF

JO - Proceedings of the 16th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART
TI - Multi-Agent Path Finding with Continuous Time Using SAT Modulo Linear Real Arithmetic
SN - 978-989-758-680-4
IS - 2184-433X
AU - Kolárik, T.
AU - Ratschan, S.
AU - Surynek, P.
PY - 2024
SP - 47
EP - 58
DO - 10.5220/0012379700003636
PB - SciTePress