Justifying and Improving Meta-Agent Conflict-Based Search

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Provided by: Cornell University
Topic: Software
Format: PDF
The Meta-Agent Conflict-Based Search (MA-CBS) is a recently proposed algorithm for the multi-agent path finding problem. The algorithm is an extension of Conflict-Based Search (CBS), which automatically merges conflicting agents into meta-agents if the number of conflicts exceeds a certain threshold. However, the decision to merge agents is made according to an empirically chosen fixed threshold on the number of conflicts. The best threshold depends both on the domain and on the number of agents, and the nature of the dependence is not clearly understood.
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