论文标题
通过基于冲突的搜索解决多代理路径查找的正面冲突
Resolving Head-On Conflicts for Multi-Agent Path Finding with Conflict-Based Search
论文作者
论文摘要
基于冲突的搜索（CBS）是解决多代理路径查找问题的流行框架。某些冲突会导致一个或两个孩子分裂时的可预见的冲突。本文介绍了一种新技术，即发现这种冲突的正面技术，因此可以通过一口气解决与潜在冲突的冲突来更有效地处理它们。该提出的技术适用于所有基于CBS的求解器。实验结果表明，正面技术改善了最先进的MAPF求解器CBSH。
Conflict-Based Search (CBS) is a popular framework for solving the Multi-Agent Path Finding problem. Some of the conflicts incur a foreseeable conflict in one or both of the children nodes when splitting on them. This paper introduces a new technique, namely the head-on technique that finds out such conflicts, so they can be processed more efficiently by resolving the conflict with the potential conflict all together in one split. The proposed technique applies to all CBS-based solvers. Experimental results show that the head-on technique improves the state-of-the-art MAPF solver CBSH.
