Multi-Agent Path Finding with Continuous Time Using SAT Modulo Linear Real Arithmetic

Tomáš Kolárik, Tomáš Kolárik, Stefan Ratschan, Pavel Surynek

2024

Abstract

This paper introduces a new approach to solving a continuous-time version of the multi-agent path finding problem. The algorithm translates the problem into an extension of the classical Boolean satisfiability problem, satisfiability modulo theories (SMT), that can be solved by off-the-shelf solvers. This enables the exploitation of conflict generalization techniques that such solvers can handle. Computational experiments show that the new approach scales better with respect to the available computation time than state-of-the art approaches and is usually able to avoid their exponential behavior on a class of benchmark problems modeling a typical bottleneck situation.

Paper Citation

in Harvard Style

Kolárik T., Ratschan S. and Surynek P. (2024). Multi-Agent Path Finding with Continuous Time Using SAT Modulo Linear Real Arithmetic. In Proceedings of the 16th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART; ISBN 978-989-758-680-4, SciTePress, pages 47-58. DOI: 10.5220/0012379700003636

in Bibtex Style

@conference{icaart24,
author={Tomáš Kolárik and Stefan Ratschan and Pavel Surynek},
title={Multi-Agent Path Finding with Continuous Time Using SAT Modulo Linear Real Arithmetic},
booktitle={Proceedings of the 16th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART},
year={2024},
pages={47-58},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012379700003636},
isbn={978-989-758-680-4},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART
TI - Multi-Agent Path Finding with Continuous Time Using SAT Modulo Linear Real Arithmetic
SN - 978-989-758-680-4
AU - Kolárik T.
AU - Ratschan S.
AU - Surynek P.
PY - 2024
SP - 47
EP - 58
DO - 10.5220/0012379700003636
PB - SciTePress