LaCAM: Search-Based Algorithm for Quick Multi-Agent Pathfinding

• URL: http://arxiv.org/abs/2211.13432v1
• Date: Thu, 24 Nov 2022 06:27:18 GMT
• Title: LaCAM: Search-Based Algorithm for Quick Multi-Agent Pathfinding
• Authors: Keisuke Okumura
• Abstract summary: We propose a novel complete algorithm for multi-agent pathfinding (MAPF) called lazy constraints addition search for MAPF (LaCAM) LaCAM uses a two-level search to find solutions quickly, even with hundreds of agents or more. Our experiments reveal that LaCAM is comparable to or outperforms state-of-the-art sub-optimal MAPF algorithms in a variety of scenarios.
• Score: 5.025654873456756
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: We propose a novel complete algorithm for multi-agent pathfinding (MAPF) called lazy constraints addition search for MAPF (LaCAM). MAPF is a problem of finding collision-free paths for multiple agents on graphs and is the foundation of multi-robot coordination. LaCAM uses a two-level search to find solutions quickly, even with hundreds of agents or more. At the low-level, it searches constraints about agents' locations. At the high-level, it searches a sequence of all agents' locations, following the constraints specified by the low-level. Our exhaustive experiments reveal that LaCAM is comparable to or outperforms state-of-the-art sub-optimal MAPF algorithms in a variety of scenarios, regarding success rate, planning time, and solution quality of sum-of-costs.

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