ICBS: The Improved Conflict-Based Search Algorithm for Multi-Agent Pathfinding Academic Article uri icon


  • Conflict-Based Search (CBS) and its generalization, Meta-Agent CBS are amongst the strongest newly introduced algorithms for Multi-Agent Path Finding. This paper introduces ICBS, an improved version of CBS. ICBS incorporates three orthogonal improvements to CBS which are systematically described and studied. Experimental results show that each of these improvements reduces the runtime over basic CBS by up to 20x in many cases. When all three improvements are combined, an even larger improvement is achieved, producing state-ofthe art results for a number of domains.

published proceedings

  • Proceedings of the International Symposium on Combinatorial Search

author list (cited authors)

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

citation count

  • 18

complete list of authors

  • Boyarski, Eli||Felner, Ariel||Stern, Roni||Sharon, Guni||Betzalel, Oded||Tolpin, David||Shimony, Eyal

publication date

  • January 2021