Conflict-Based Search for Multi Agent Path Finding with Asynchronous Actions
Multi-Agent Path Finding (MAPF) seeks collision-free paths for multiple agents from their respective start locations to their respective goal locations while minimizing path costs. Most existing MAPF algorithms rely on a common assumption of synchronized actions, where the actions of all agents start at the same time and always take a time unit, which may limit the use of MAPF planners in practice. To get rid of this assumption, Continuous-time Conflict-Based Search (CCBS) is a popular approach that can find optimal solutions for MAPF with asynchronous actions (MAPF-AA). However, CCBS has recently been identified to be incomplete due to an uncountably infinite state space created by conti...
| Authors | Xuemian Wu, Shizhe Zhao, Zhongqiang Ren |
|---|---|
| Primary category | cs.AI |
| Published | 19 March 2026 |
| Last updated at source | 26 March 2026 |
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