论文标题

在次优的CBS中有效整合加权成本和冲突的启发式

Effective Integration of Weighted Cost-to-go and Conflict Heuristic within Suboptimal CBS

论文作者

Veerapaneni, Rishi, Kusnur, Tushar, Likhachev, Maxim

论文摘要

基于冲突的搜索(CBS)是一种流行的多代理路径查找(MAPF)求解器,该求解器采用低级单位代理计划者和高级约束树来解决冲突。绝大多数现代MAPF求解器都专注于通过各种策略减少这棵树的大小来改善CB,几乎没有修改低级计划者的方法。通常,现有CBS方法中的低级别计划者使用未加权的启发式启发式方法,次优的CBS方法还使用冲突启发式启发式启发式来帮助高级搜索。在本文中,我们表明,与普遍存在的CBS信念相反,可以在两个可能的变体中有效地使用加权成本到启发式的启发式。特别是,这些变体之一可以在几种情况和次优的CBS方法中获得大型加速,即2-100x。重要的是,我们发现绩效与加权成本启发式无关,而与相对冲突的启发式权重有效平衡低级和高级工作的能力有关。此外,据我们所知,我们展示了优先规划和有限的次优的CB的第一个理论关系,并证明我们的方法是它们的自然概括。 2024年3月更新:我们发现,根据如何计算冲突的启发式,相对加速降至1.2-10x左右(有关更多详细信息,请参见附录)。

Conflict-Based Search (CBS) is a popular multi-agent path finding (MAPF) solver that employs a low-level single agent planner and a high-level constraint tree to resolve conflicts. The vast majority of modern MAPF solvers focus on improving CBS by reducing the size of this tree through various strategies with few methods modifying the low level planner. Typically low level planners in existing CBS methods use an unweighted cost-to-go heuristic, with suboptimal CBS methods also using a conflict heuristic to help the high level search. In this paper, we show that, contrary to prevailing CBS beliefs, a weighted cost-to-go heuristic can be used effectively alongside the conflict heuristic in two possible variants. In particular, one of these variants can obtain large speedups, 2-100x, across several scenarios and suboptimal CBS methods. Importantly, we discover that performance is related not to the weighted cost-to-go heuristic but rather to the relative conflict heuristic weight's ability to effectively balance low-level and high-level work. Additionally, to the best of our knowledge, we show the first theoretical relation of prioritized planning and bounded suboptimal CBS and demonstrate that our methods are their natural generalization. Update March 2024: We found that the relative speedup decreases to around 1.2-10x depending on how the conflict heuristic is computed (see appendix for more details).

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