ICBS: Improved conflict-based search algorithm for multi-agent pathfinding Conference Paper uri icon


  • Conflict-Based Search (CBS) and its enhancements, Meta-Agent CBS and bypassing conflicts are amongst the strongest newly introduced algorithms for Multi-Agent Path Finding. This paper introduces two new improvements to CBS and incorporates them into a coherent, improved version of CBS, namely ICBS. Experimental results show that each of these improvements further reduces the runtime over the existing CBS-based approaches. When all improvements are combined, an even larger improvement is achieved, producing state-of-the art results for a number of domains.

author list (cited authors)

  • Boyarski, E., Felner, A., Stern, R., Sharon, G., Tolpin, D., Betzalel, O., & Shimony, E.

publication date

  • January 2015