Pruning techniques for the increasing cost tree search for optimal multi-agent path finding

Abstract

We address the problem of optimal path finding for multiple agents where agents must not collide and their total travel cost should be minimized. Previous work used traditional single-agent search variants of the A* algorithm. In (Sharon et al. 2011) we introduced a novel two-level search algorithm framework for this problem. The high-level searches a novel search tree called increasing cost tree (ICT). The low-level performs a goal test on each ICT node. The new framework, called ICT search (ICTS), showed to run faster than the previous state-of-the-art A* approach by up to three orders of magnitude in many cases. In this paper we focus on the lowlevel of ICTS which performs the goal test. We introduce a number of optional pruning techniques that can significantly speed up the goal test. We discuss these pruning techniques and provide supporting experimental results. Copyright © 2011, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.