PIBT

Priority Inheritance with Backtracking for Iterative Multi-agent Path Finding

Keisuke Okumura, Manao Machida, Yasumasa Tamura and Xavier Défago

[conference paper (IJCAI-19)] [code (GitHub)] [winPIBT paper (WoMAPF-20)]

Multi-agent Path Finding

Multi-agent Pickup and Delivery (sushi-mode)

News

  • If you are interested in implementing PIBT in MAPF, there is a new implementation. The new one is much cleaner and faster by orders of magnitude. I strongly recommend using the new one instead of this repo. In particular, PIBT+ performs well.
  • We are currently preparing the journal paper.

Citation

PIBT

@inproceedings{okumura2019priority,
  title={Priority Inheritance with Backtracking for Iterative Multi-agent Path Finding},
  author={Okumura, Keisuke and Machida, Manao and D{\'e}fago, Xavier and Tamura, Yasumasa},
  booktitle={Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence, {IJCAI-19}},
  publisher={International Joint Conferences on Artificial Intelligence Organization},
  pages={535--542},
  year={2019},
  month={7},
  doi={10.24963/ijcai.2019/76},
  url={https://doi.org/10.24963/ijcai.2019/76}
}

winPIBT

@article{okumura2019winpibt,
  title={winPIBT: Extended Prioritized Algorithm for Iterative Multi-agent Path Finding},
  author={Okumura, Keisuke and Tamura, Yasumasa and D{\'e}fago, Xavier},
  journal={arXiv preprint arXiv:1905.10149},
  year={2019}
}