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arXiv · 2408.09028

On the Completeness of Conflict-Based Search: Temporally-Relative Duplicate Pruning

Thayne T Walker·Nathan R Sturtevant
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Abstract

Conflict-Based Search (CBS) algorithm for the multi-agent pathfinding (MAPF) problem is that it is incomplete for problems which have no solution; if no mitigating procedure is run in parallel, CBS will run forever when given an unsolvable problem instance. In this work, we introduce Temporally-Relative Duplicate Pruning (TRDP), a technique for duplicate detection and removal in both classic and continuous-time MAPF domains. TRDP is a simple procedure which closes the long-standing theoretic loophole of incompleteness for CBS by detecting and avoiding the expansion of duplicate states. TRDP is shown both theoretically and empirically to ensure termination without a significant impact on runtime in the majority of problem instances. In certain cases, TRDP is shown to increase performance significantly

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Thayne T Walker, Nathan R Sturtevant. 2024-08-16. On the Completeness of Conflict-Based Search: Temporally-Relative Duplicate Pruning. https://arxiv.org/abs/2408.09028

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