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P. Surynek, A. Felner, R. Stern and E. Boyarski. Sub-Optimal SAT-Based Approach to Multi-Agent Path-Finding Problem. In Proceedings of the Symposium on Combinatorial Search (SoCS), pages 90-105, 2018.

Abstract: In multi-agent path finding (MAPF) the task is to find nonconflicting paths for multiple agents. In this paper we focus on finding suboptimal solutions for MAPF for the sum-of-costs variant. Recently, a SAT-based approached was developed to solve this problem and proved beneficial in many cases when compared to other search-based solvers. In this paper, we present SAT-based unbounded- and bounded-suboptimal algorithms and compare them to relevant algorithms. Experimental results show that in many case the SAT-based solver significantly outperforms the search-based solvers.

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(last updated in 2019)