On the Completeness of Conflict-Based Search: Temporally-Relative Duplicate Pruning
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arXiv
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866909290063724544 |
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| author | Walker, Thayne T Sturtevant, Nathan R |
| author_facet | Walker, Thayne T Sturtevant, Nathan R |
| contents | 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 |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_09028 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | On the Completeness of Conflict-Based Search: Temporally-Relative Duplicate Pruning Walker, Thayne T Sturtevant, Nathan R Artificial Intelligence Robotics F.2.2; I.2.8 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 |
| title | On the Completeness of Conflict-Based Search: Temporally-Relative Duplicate Pruning |
| topic | Artificial Intelligence Robotics F.2.2; I.2.8 |
| url | https://arxiv.org/abs/2408.09028 |