Abstract
Multi-Agent Pathfinding (MAPF) is the problem of
finding paths for multiple agents such that every
agent reaches its goal and the agents do not collide. Most prior work on MAPF was on grids, assumed agents’ actions have uniform duration, and
that time is discretized into timesteps. We propose
a MAPF algorithm that does not rely on these assumptions, is complete, and provides provably optimal solutions. This algorithm is based on a novel
adaptation of Safe interval path planning (SIPP), a
continuous time single-agent planning algorithm,
and a modified version of Conflict-based search
(CBS), a state of the art multi-agent pathfinding algorithm. We analyze this algorithm, discuss its pros
and cons, and evaluate it experimentally on several
standard benchmarks