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CBSH2

Improved Heuristics for Multi-Agent Path Finding with Conflict-Based Search.

The main goal is to improve heuristics for Conflict-Based Search by reasoning about pairwise dependencies between agents. The code is tested on both Ubuntu and Windows.

The code requires the external library BOOST (https://www.boost.org/).

After you installed BOOST and downloaded the source code, go into the directory of the source code and compile the code with CMake:

cmake .
make

Then, you are able to run the code:

./CBSH2 -m instances/lak503d.map -a instances/lak503dmap-100agents-2.agents -o test.csv -t 60 -s 1 -h WDG -r 1

You can find details and explanations for all parameters with:

./CBSH2 --help

License

CBSH2 is released under USC – Research License. See license.md for further details.

References

Jiaoyang Li, Eli Boyarski, Ariel Felner, Hang Ma and Sven Koenig. Improved Heuristics for Multi-Agent Path Finding with Conflict-Based Search. In Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), (in print), 2019.

Jiaoyang Li, Eli Boyarski, Ariel Felner, Hang Ma and Sven Koenig. Improved Heuristics for Multi-Agent Path Finding with Conflict-Based Search [Extended Abstract]. In Proceedings of the Symposium on Combinatorial Search (SoCS), pages 182-183, 2019.