[2408.09028] On the Completeness of Conflict-Based Search: Temporally-Relative Duplicate Pruning
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Computer Science > Artificial Intelligence

arXiv:2408.09028 (cs)
[Submitted on 16 Aug 2024]

Title:On the Completeness of Conflict-Based Search: Temporally-Relative Duplicate Pruning

Authors:Thayne T Walker, Nathan R Sturtevant
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Abstract:Conflict-Based Search (CBS) algorithm for the multi-agent pathfinding (MAPF) problem is that it is incomplete for problems which have no solution; if no mitigating procedure is run in parallel, CBS will run forever when given an unsolvable problem instance. In this work, we introduce Temporally-Relative Duplicate Pruning (TRDP), a technique for duplicate detection and removal in both classic and continuous-time MAPF domains. TRDP is a simple procedure which closes the long-standing theoretic loophole of incompleteness for CBS by detecting and avoiding the expansion of duplicate states. TRDP is shown both theoretically and empirically to ensure termination without a significant impact on runtime in the majority of problem instances. In certain cases, TRDP is shown to increase performance significantly
Comments: 9 pages, 4 figures, 2 tables
Subjects: Artificial Intelligence (cs.AI); Robotics (cs.RO)
ACM classes: F.2.2; I.2.8
Cite as: arXiv:2408.09028 [cs.AI]
  (or arXiv:2408.09028v1 [cs.AI] for this version)
  https://doi.org/10.48550/arXiv.2408.09028

Submission history

From: Thayne Walker [view email]
[v1] Fri, 16 Aug 2024 21:49:39 UTC (3,560 KB)
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