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Results
Problem Definition:
Configuration:
- Agents disappear at goal
- Wait times fixed (=1)
- Agent shape=Circle,r=1/(2sqrt2) [following allowed]
- 2^k neighborhoods (4,8,16,32)
- Time resolution 1/10
random MAPF Benchmarks
| Type
| Map
| Total Solved for Connectivity
|
|---|
| 4
| 8
| 16
| 32
|
|---|
| City
| Berlin_1_256
|
|
| 2,4731
|
|
|---|
| Boston_0_256
|
|
| 3,0271
|
|
|---|
| Paris_1_256
|
|
| 2,8331
|
|
|---|
| DAO
| brc202d
|
|
| 1,7011
|
|
|---|
| den312d
|
|
| 8491
|
|
|---|
| den520d
|
|
| 1,6531
|
|
|---|
| lak303d
|
|
| 1,0351
|
|
|---|
| orz900d
|
|
| 1,5071
|
|
|---|
| ost003d
|
|
| 1,1391
|
|
|---|
| Dragon Age 2
| ht_chantry
|
|
| 1,2211
|
|
|---|
| ht_mansion_n
|
|
| 1,2511
|
|
|---|
| lt_gallowstemplar
|
|
| 1,3251
|
|
|---|
| w_woundedcoast
|
|
| 2,0311
|
|
|---|
| Open
| empty-16-16
|
|
| 4231
|
|
|---|
| empty-32-32
|
|
| 8391
|
|
|---|
| empty-48-48
|
|
| 1,0791
|
|
|---|
| Open+ obstacles
| random-32-32-10
|
|
| 6891
|
|
|---|
| random-32-32-20
|
|
| 7651
|
|
|---|
| random-64-64-10
|
|
| 1,2611
|
|
|---|
| random-64-64-20
|
|
| 1,1351
|
|
|---|
| Maze
| maze-32-32-2
|
|
| 4471
|
|
|---|
| maze-32-32-4
|
|
| 3391
|
|
|---|
| maze-128-128-10
|
|
| 9811
|
|
|---|
| maze-128-128-2
|
|
| 6011
|
|
|---|
| Room
| room-32-32-4
|
|
| 4891
|
|
|---|
| room-64-64-16
|
|
| 7091
|
|
|---|
| room-64-64-8
|
|
| 4191
|
|
|---|
ICTS
Extended Increasing Cost Tree Search for Non-Unit Cost Domains
Failure Criteria:
- Time exceeds 30 seconds
- Resident memory size exceeds 16GB
Compute Resources:
- 2.8 GHz cpu (single-threaded)
Algorithm Enhancements:
- Extensions for non-unit costs
- Pairwise pruning
