Candidate Path Selection Heuristics for Multi-Agent Path Finding: A Novel Compilation-Based Method

Pavel Surynek

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Paper

Candidate Path Selection Heuristics for Multi-Agent Path Finding: A Novel Compilation-Based Method

Topics: Constraint Satisfaction; Multi-Agent Systems; Planning and Scheduling; Robot and Multi-Robot Systems; State Space Search

In Proceedings of the 15th International Conference on Agents and Artificial Intelligence - Volume 3: ICAART, 517-524, 2023 , Lisbon, Portugal

Author: Pavel Surynek

Affiliation: Faculty of Information Technology, Czech Technical University in Prague Thákurova 9, 160 00 Praha 6, Czech Republic

Keyword(s): Multi-Agent Path Finding, Problem Compilation, Boolean Satisfiability, Path Selection Heuristics.

Abstract: Multi-Agent path finding (MAPF) is a task of finding non-conflicting paths connecting agents’ specified initial and goal positions in a shared environment. We focus on compilation-based solvers in which the MAPF problem is expressed in a different well established formalism such as mixed-integer linear programming (MILP), Boolean satisfiability (SAT), or constraint programming (CP). As the target solvers for these formalisms act as black-boxes it is challenging to integrate MAPF specific heuristics in the MAPF compilation-based solvers. We show in this work how the build a MAPF encoding for the target SAT solver in which domain specific heuristic knowledge is reflected.

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Paper citation in several formats:

Surynek, P. (2023). Candidate Path Selection Heuristics for Multi-Agent Path Finding: A Novel Compilation-Based Method. In Proceedings of the 15th International Conference on Agents and Artificial Intelligence - Volume 3: ICAART; ISBN 978-989-758-623-1; ISSN 2184-433X, SciTePress, pages 517-524. DOI: 10.5220/0011693900003393

@conference{icaart23,
author={Pavel Surynek.},
title={Candidate Path Selection Heuristics for Multi-Agent Path Finding: A Novel Compilation-Based Method},
booktitle={Proceedings of the 15th International Conference on Agents and Artificial Intelligence - Volume 3: ICAART},
year={2023},
pages={517-524},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011693900003393},
isbn={978-989-758-623-1},
issn={2184-433X},
}

TY - CONF

JO - Proceedings of the 15th International Conference on Agents and Artificial Intelligence - Volume 3: ICAART
TI - Candidate Path Selection Heuristics for Multi-Agent Path Finding: A Novel Compilation-Based Method
SN - 978-989-758-623-1
IS - 2184-433X
AU - Surynek, P.
PY - 2023
SP - 517
EP - 524
DO - 10.5220/0011693900003393
PB - SciTePress