Conflict-Based Search For Optimal Multi-Agent Path Finding Conference Paper uri icon


  • In the multi agent path finding problem (MAPF) paths should be found for several agents, each with a different start and goal position such that agents do not collide. Previous optimal solvers applied global A*-based searches. We present a new search algorithm called Conflict Based Search (CBS). CBS is a two-level algorithm. At the high level, a search is performed on a tree based on conflicts between agents. At the low level, a search is performed only for a single agent at a time. In many cases this reformulation enables CBS to examine fewer states than A* while still maintaining optimality. We analyze CBS and show its benefits and drawbacks. Experimental results on various problems shows a speedup of up to a full order of magnitude over previous approaches.

published proceedings

  • Proceedings of the AAAI Conference on Artificial Intelligence

author list (cited authors)

  • Sharon, G., Stern, R., Felner, A., & Sturtevant, N.

citation count

  • 12

complete list of authors

  • Sharon, Guni||Stern, Roni||Felner, Ariel||Sturtevant, Nathan

publication date

  • November 2012