Optimal Task Assignment and Path Planning using Conflict-Based Search with Precedence and Temporal Constraints

Yu Quan Chong, Jiaoyang Li, Katia P. Sycara

Abstract: This paper examines the Task Assignment and Path Finding with Precedence and Temporal Constraints (TAPF-PTC) problem. We augment Conflict-Based Search (CBS) to generate task assignments and collision-free paths that adhere to precedence and temporal constraints for agents to maximize a user-defined objective.