Clique Analysis and Bypassing in Continuous-Time Conflict-Based Search

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Thayne T. Walker, Nathan R. Sturtevant, Ariel Felner

Published: 01 Jan 2024, Last Modified: 03 Jul 2024AAMAS 2024EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: We study symmetry-breaking enhancements for Continuous-Time Conflict-Based Search (CCBS), a solver for continuous-time MAPF. Resolving conflict symmetries in MAPF can require an exponential amount of work. We adapt known symmetry-breaking enhancements from unit-cost domains for CCBS. We then improve upon these to produce a new state of the art algorithm: CCBS with disjoint k-partite cliques (CCBS+DK). Finally, we show empirically that CCBS+DK solves for up to 20% more agents in the same amount of time when compared to previous state of the art.