2024
DOI: 10.1609/socs.v17i1.31551
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ITA-ECBS: A Bounded-Suboptimal Algorithm for Combined Target-Assignment and Path-Finding Problem

Yimin Tang,
Sven Koenig,
Jiaoyang Li

Abstract: Multi-Agent Path Finding (MAPF), i.e., finding collision-free paths for multiple robots, plays a critical role in many applications. Sometimes, assigning a target to each agent also presents a challenge. The Combined Target-Assignment and Path-Finding (TAPF) problem, a variant of MAPF, requires one to simultaneously assign targets to agents and plan collision-free paths for agents. Several algorithms, including CBM, CBS-TA, and ITA-CBS, optimally solve the TAPF problem, with ITA-CBS being the leading algorithm… Show more

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