Conflict-Based Search for Explainable Multi-Agent Path Finding

by   Justin Kottinger, et al.

In the Multi-Agent Path Finding (MAPF) problem, the goal is to find non-colliding paths for agents in an environment, such that each agent reaches its goal from its initial location. In safety-critical applications, a human supervisor may want to verify that the plan is indeed collision-free. To this end, a recent work introduces a notion of explainability for MAPF based on a visualization of the plan as a short sequence of images representing time segments, where in each time segment the trajectories of the agents are disjoint. Then, the explainable MAPF problem asks for a set of non-colliding paths that admits a short-enough explanation. Explainable MAPF adds a new difficulty to MAPF, in that it is NP-hard with respect to the size of the environment, and not just the number of agents. Thus, traditional MAPF algorithms are not equipped to directly handle explainable-MAPF. In this work, we adapt Conflict Based Search (CBS), a well-studied algorithm for MAPF, to handle explainable MAPF. We show how to add explainability constraints on top of the standard CBS tree and its underlying A* search. We examine the usefulness of this approach and, in particular, the tradeoff between planning time and explainability.


page 1

page 2

page 3

page 4


MAPS-X: Explainable Multi-Robot Motion Planning via Segmentation

Traditional multi-robot motion planning (MMP) focuses on computing traje...

Flexible and Explainable Solutions for Multi-Agent Path Finding Problems

The multi-agent path finding (MAPF) problem is a combinatorial search pr...

Optimal Target Assignment and Path Finding for Teams of Agents

We study the TAPF (combined target-assignment and path-finding) problem ...

Symmetry Breaking for k-Robust Multi-Agent Path Finding

During Multi-Agent Path Finding (MAPF) problems, agents can be delayed b...

Monte-Carlo Tree Search for Multi-Agent Pathfinding: Preliminary Results

In this work we study a well-known and challenging problem of Multi-agen...

A Competitive Analysis of Online Multi-Agent Path Finding

We study online Multi-Agent Path Finding (MAPF), where new agents are co...

Please sign up or login with your details

Forgot password? Click here to reset