Publication

X. Wu, S. Zhao and Z. Ren. Conflict-Based Search for Multi Agent Path Finding with Asynchronous Actions. In International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2026.

Abstract: This paper considers Multi Agent Path Finding with asynchronous actions, where move and wait durations need not be synchronized across agents. It identifies limitations of Continuous-Time Conflict-Based Search caused by continuous wait durations and proposes CBS-AA, a Conflict-Based Search algorithm with completeness and optimality guarantees for this setting. The paper also introduces constraint propagation techniques based on action durations to improve scalability, and experiments show large reductions in high-level branching.

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