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  • This paper addresses makespan optimal solving of cooperative path-finding problem (CPF) by translating it to propositional satisfiability (SAT). The task in CPF is to relocate a set of agents to given goal locations so that they do not collide with each other. Recent findings indicate that a simple direct en-coding outperforms the more elaborate encodings based on binary encodings of multi-value state variables. The direct encoding is further improved by a hierar-chical build-up that uses auxiliary variables to reduce its size in this work. The conducted experimental evaluation shown that the simple design of the encod-ing together with new improvements which reduced its size significantly are key enablers for faster solving of the encoded CPFs than with existing encod-ings. It has been also shown that the SAT based methods dominates over A* based methods in environments with high occupancy by agents.
  • This paper addresses makespan optimal solving of cooperative path-finding problem (CPF) by translating it to propositional satisfiability (SAT). The task in CPF is to relocate a set of agents to given goal locations so that they do not collide with each other. Recent findings indicate that a simple direct en-coding outperforms the more elaborate encodings based on binary encodings of multi-value state variables. The direct encoding is further improved by a hierar-chical build-up that uses auxiliary variables to reduce its size in this work. The conducted experimental evaluation shown that the simple design of the encod-ing together with new improvements which reduced its size significantly are key enablers for faster solving of the encoded CPFs than with existing encod-ings. It has been also shown that the SAT based methods dominates over A* based methods in environments with high occupancy by agents. (en)
Title
  • Simple Direct Propositional Encoding of Cooperative Path Finding Simplified Yet More
  • Simple Direct Propositional Encoding of Cooperative Path Finding Simplified Yet More (en)
skos:prefLabel
  • Simple Direct Propositional Encoding of Cooperative Path Finding Simplified Yet More
  • Simple Direct Propositional Encoding of Cooperative Path Finding Simplified Yet More (en)
skos:notation
  • RIV/00216208:11320/14:10287455!RIV15-MSM-11320___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • I, P(GAP103/10/1287)
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
http://linked.open.../riv/druhVysledku
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  • 44887
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  • RIV/00216208:11320/14:10287455
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  • A*; SAT encodings; propositional satisfiability (SAT); cooperative path-finding (CPF) (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [2905CD4C348D]
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  • Mexico
http://linked.open...i/riv/mistoVydani
  • Mexico
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  • Proceedings of the 13th Mexican International Conference on Artificial Intelligence
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  • Surynek, Pavel
http://linked.open...vavai/riv/typAkce
http://linked.open.../riv/zahajeniAkce
number of pages
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  • Springer-Verlag
https://schema.org/isbn
  • 978-3-319-13649-3
http://localhost/t...ganizacniJednotka
  • 11320
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