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In the multi-agent path finding problem (MAPF) we are given a set of agents each with respective start and goal positions. The task is to find paths for all agents while avoiding collisions, aiming to minimize a given objective function. Many MAPF solvers were introduced in the past decade for optimizing two specific objective functions: sum-of-costs and makespan. Two prominent categories of solvers can be distinguished: search-based solvers and compilation-based solvers. Search-based solvers were developed and tested for the sum-of-costs objective, while the most prominent compilation-based solvers that are built around Boolean satisfiability (SAT) were designed for the makespan objective. Very little is known on the performance and relevance of solvers from the compilation-based approach on the sum-of-costs objective. In this paper, we start to close the gap between these cost functions in the compilation-based approach. Our main contribution is a new SAT-based MAPF solver called MDD-SAT, that is directly aimed to optimally solve the MAPF problem under the sum-of-costs objective function. Using both a lower bound on the sum-of-costs and an upper bound on the makespan, MDD-SAT is able to generate a reasonable number of Boolean variables in our SAT encoding. We then further improve the encoding by borrowing ideas from ICTS, a search-based solver. In addition, we show that concepts applicable in search-based solvers like ICTS and ICBS are applicable in the SAT-based approach as well. Specifically, we integrate independence detection, a generic technique for decomposing an MAPF instance into independent subproblems, into our SAT-based approach, and we design a relaxation of our optimal SAT-based solver that results in a bounded suboptimal SAT-based solver. Experimental evaluation on several domains shows that there are many scenarios where our SAT-based methods outperform state-of-the-art sum-of-costs search-based solvers, such as variants of the ICTS and ICBS algorithms.

We present ESO-MAPF, a research and educational platform for experimenting with multi-agent path finding (MAPF). ESO-MAPF focuses on demonstrating the planning-acting chain in the MAPF domain. MAPF is the task of finding collision free paths for agents from their starting positions to given individual goals. The standard MAPF uses the abstraction where agents move in an undirected graph via traversing its edges in discrete steps. The discrete abstraction simplifies the planning phase however resulting discrete plans often need to be executed in the real continuous environment. ESO-MAPF shows how to bridge discrete planning and the acting phase in which the resulting plans are executed on physical robots. We simulate centralized plans on a group of OZOBOT Evo robots using their reflex functionalities and outputs on the surface of the screen that serves as the environment. Various problems arising along the planning-acting chain are illustrated to emphasize the educational point of view.

Mutex propagation is a form of efficient constraint propagation popularly used in AI planning to tightly approximate the reachable states from a given state. We utilize this idea in the context of Multi-Agent Path Finding (MAPF). When adapted to MAPF, mutex propagation provides stronger constraints for conflict resolution in Conflict-Based Search (CBS), a popular optimal MAPF algorithm, and provides it with the ability to identify and reason with symmetries in MAPF. While existing work identifies a limited form of symmetries using rectangle reasoning and requires the manual design of symmetry-breaking constraints, mutex propagation is more general and allows for the automated design of symmetry-breaking constraints. Our experimental results show that CBS with mutex propagation is capable of outperforming CBSH with rectangle reasoning, a state-of-the-art variant of CBS, with respect to runtime and success rate.

Multi-Agent Path Finding (MAPF) has been widely studied in the AI community. For example, Conflict-Based Search (CBS) is a state-of-the-art MAPF algorithm based on a two-level tree-search. However, previous MAPF algorithms assume that an agent occupies only a single location at any given time, e.g., a single cell in a grid. This limits their applicability in many real-world domains that have geometric agents in lieu of point agents. Geometric agents are referred to as “large” agents because they can occupy multiple points at the same time. In this paper, we formalize and study LAMAPF, i.e., MAPF for large agents. We first show how CBS can be adapted to solve LA-MAPF. We then present a generalized version of CBS, called Multi-Constraint CBS (MC-CBS), that adds multiple constraints (instead of one constraint) for an agent when it generates a high-level search node. We introduce three different approaches to choose such constraints as well as an approach to compute admissible heuristics for the high-level search. Experimental results show that all MC-CBS variants outperform CBS by up to three orders of magnitude in terms of runtime. The best variant also outperforms EPEA* (a state-of-the-art A*-based MAPF solver) in all cases and MDD-SAT (a state-of-the-art reduction-based MAPF solver) in some cases.

We describe an attempt to unify search-based and compilation-based approaches to multi-agent path finding (MAPF) through satisfiability modulo theories (SMT). The task in MAPF is to navigate agents in an undirected graph to given goal vertices so that they do not collide. We rephrase Conflict-Based Search (CBS), one of the state-of-the-art algorithms for optimal MAPF solving, in the terms of SMT. This idea combines SAT-based solving known from MDD-SAT, a SAT-based optimal MAPF solver, at the low level with conflict elimination of CBS at the high level. Where the standard CBS branches the search after a conflict occurs, we refine the propositional model with a disjunctive constraint instead. Our novel algorithm called SMT-CBS hence does not branch at the high-level but incrementally extends the propositional model that is consulted with the SAT solver at each iteration. We experimentally compare SMT-CBS with CBS and MDD-SAT.

The At-Most-One (AMO) constraint is a special case of cardinality constraint that requires at most one variable from a set of Boolean variables to be set to $TRUE$ . AMO is important for modeling problems as Boolean satisfiability (SAT) from domains where decision variables represent spatial or temporal placements of some objects that cannot share the same spatial or temporal slot. The AMO constraint can be used for more efficient representation and problem solving in mutex networks consisting of pair-wise mutual exclusions forbidding pairs of Boolean variable to be simultaneously $TRUE$ . An on-line method for automated detection of cliques for efficient representation of incremental mutex networks where new mutexes arrive using AMOs is presented. A comparison of SAT-based problem solving in mutex networks represented by AMO constraints using various encodings is shown.

Much of the literature on suboptimal, polynomial-time algorithms for multi-agent path finding focuses on undirected graphs, where motion is permitted in both directions along a graph edge. Despite this, traveling on directed graphs is relevant in navigation domains, such as path finding in games, and asymmetric communication networks.We consider multi-agent path finding on strongly biconnected directed graphs. We show that all instances with at least two unoccupied positions have a solution, except for a particular, degenerate subclass where the graph has a cyclic shape. We present diBOX, an algorithm for multi-agent path finding on strongly biconnected directed graphs. diBOX runs in polynomial time, computes suboptimal solutions and is complete for instances on strongly biconnected digraphs with at least two unoccupied positions. We theoretically analyze properties of the algorithm and properties of strongly biconnected directed graphs that are relevant to our approach. We perform a detailed empirical analysis of diBOX, showing a good scalability. To our knowledge, our work is the first study of multi-agent path finding focused on directed graphs.

We address conflict reasoning in generalizations of multi-agent path finding (MAPF). We assume items placed in vertices of an undirected graph with at most one item per vertex. Items can be relocated across edges while various constraints depending on the concrete type of MAPF must be satisfied. We recall a general problem formulation that encompasses known types of item relocation problems such as multi-agent path finding (MAPF) and token swapping (TSWAP). We show how to express new types of relocation problems in the general problem formulation. We thoroughly evaluate a novel solving method for item relocation that combines satisfiability modulo theory (SMT) with conflict-based search (CBS). CBS is interpreted in the SMT framework where we start with the basic model and refine the model with a collision resolution constraint whenever a collision between items occurs. The key difference between the standard CBS and the SMT-based modification of CBS (SMT-CBS) is that the standard CBS branches the search to resolve the collision while SMT-CBS iteratively adds a single disjunctive collision resolution constraint. Our experimental evaluation revealed that although SMT-CBS performs better than CBS in small densely occupied instances of variants of MAPF, it is outperformed on large sparsely occupied environments. The performed analysis shows that individual paths in large environments of relocation instances can be found faster using simple A*-based algorithm than by the SMT solver. On the other hand the SMT solver performs better when many conflicts between items need to be resolved.

In multi-agent path finding (MAPF) the task is to navigate agents from their starting positions to given individual goals. The problem takes place in an undirected graph whose vertices represent positions and edges define the topology. Agents can move to neighbor vertices across edges. In the standard MAPF, space occupation by agents is modeled by a capacity constraint that permits at most one agent per vertex. We suggest an extension of MAPF in this paper that permits more than one agent per vertex. Propositional satisfiability (SAT) models for these extensions of MAPF are studied. We focus on modeling capacity constraints in SAT-based formulations of MAPF and evaluation of performance of these models. We extend two existing SAT-based formulations with vertex capacity constraints: MDD-SAT and SMT-CBS where the former is an approach that builds the model in an eager way while the latter relies on lazy construction of the model.

This paper addresses optimal and near-optimal solving of the (N2–1)-puzzle using the A* search algorithm. We develop a novel heuristic based on artificial neural networks (ANNs) called ANN-distance that attempts to estimate the minimum number of moves necessary to reach the goal configuration of the puzzle. With a well trained ANN-distance heuristic, whose inputs are just the positions of the pebbles, we are able to achieve better accuracy of predictions than with conventional heuristics such as those derived from the Manhattan distance or pattern database heuristics. Though we cannot guarantee admissibility of ANN-distance, an experimental evaluation on random 15-puzzles shows that in most cases ANN-distance calculates the true minimum distance from the goal, and furthermore, A* search with the ANN-distance heuristic usually finds an optimal solution or a solution that is very close to the optimum. Moreover, the underlying neural network in ANN-distance consumes much less memory than a comparable pattern database.

This paper addresses evacuation problems from the perspective of cooperative path finding (CPF). The evacuation problem we call multi-agent evacuation (MAE) consists of an undirected graph and a set of agents. The task is to move agents from the endangered part of the graph into the safe part as quickly as possible. Although there exist centralized evacuation algorithms based on network flows that are optimal with respect to various objectives, such algorithms would hardly be applicable in practice since real agents will not be able to follow the centrally created plan. Therefore we designed a local evacuation planning algorithm called LC-MAE based on local CPF techniques. Agent-based simulations in multiple real-life scenarios show that LC-MAE produces solutions that are only worse than the optimum by a small factor. Moreover our approach led to important findings about how many agents need to behave rationally to increase the speed of evacuation.

We study practical approaches to solving the token swapping (TSWAP) problem optimally in this paper. In TSWAP, we are given an undirected graph with colored vertices. A colored token is placed in each vertex. A pair of tokens can be swapped between adjacent vertices. The goal is to perform a sequence of swaps so that token and vertex colors agree across the graph. The minimum number of swaps is required in the optimization variant of the problem. We observed similarities between the TSWAP problem and multi-agent path finding (MAPF) where instead of tokens we have multiple agents that need to be moved from their current vertices to given unique target vertices. The difference between both problems consists in local conditions that state transitions (swaps/moves) must satisfy. We developed two algorithms for solving TSWAP optimally by adapting two different approaches to MAPF - conflict-based search (CBS) and SAT-based approach that uses multi-value decision diagrams (MDD-SAT). This constitutes the first attempt to design optimal solving algorithms for TSWAP. Experimental evaluation on various types of graphs shows that the reduction to SAT scales better than CBS in optimal TSWAP solving. It has been also demonstrated that TSWAP instances are easier to solve than corresponding similar MAPF instances.

The present paper deals with the problem of solving the ($$n^2 - 1$$n2-1)-puzzle and cooperative path-finding (CPF) problems sub-optimally by rule-based algorithms. To solve the puzzle, we need to rearrange $$n^2 - 1$$n2-1 pebbles in the $$n \times n$$n×n-sized square grid using one vacant position to achieve the goal configuration. An improvement to the existing polynomial-time algorithm is proposed and experimentally analyzed. The improved algorithm represents an attempt to move pebbles in a more efficient way compared to the original algorithm by grouping them into so-called snakes and moving them together as part of a snake formation. An experimental evaluation has shown that the snakeenhanced algorithm produces solutions which are 8---9 % shorter than the solutions generated by the original algorithm. Snake-like movement has also been integrated into the rule-based algorithms used in solving CPF problems sub-optimally, which is a closely related task. The task in CPF consists in moving a group of abstract robots on an undirected graph to specific vertices. The robots can move to unoccupied neighboring vertices; no more than one robot can be placed in each vertex. The ($$n^2 - 1$$n2-1)-puzzle is a special case of CPF where the underlying graph is a 4-connected grid and only one vertex is vacant. Two major rule-based algorithms for solving CPF problems were included in our study--BIBOX and PUSH-and-SWAP (PUSH-and-ROTATE). The use of snakes in the BIBOX algorithm led to consistent efficiency gains of around 30 % for the ($$n^2 - 1$$n2-1)-puzzle and up to 50 % in for CPF problems on biconnected graphs with various ear decompositions and multiple vacant vertices. For the PUSH-and-SWAP algorithm, the efficiency gain achieved from the use of snakes was around 5---8 %. However, the efficiency gain was unstable and hardly predictable for PUSH-and-SWAP.

We present and evaluate diBOX, an algorithm for multi-agent path finding on strongly biconnected directed graphs. diBOX runs in polynomial time, computes suboptimal solutions and is complete for instances on strongly biconnected digraphs with at least two unoccupied positions. A detailed empirical analysis shows a good scalability for diBOX.

The problem of cooperative path-finding is addressed in this work. A set of agents moving in a certain environment is given. Each agent needs to reach a given goal location. The task is to find spatial temporal paths for agents such that they eventually reach their goals by following these paths without colliding with each other. An abstraction where the environment is modeled as an undirected graph is adopted-vertices represent locations and edges represent passable regions. Agents are modeled as elements placed in the vertices while at most one agent can be located in a vertex at a time. At least one vertex remains unoccupied to allow agents to move. An agent can move into unoccupied neighboring vertex or into a vertex being currently vacated if a certain additional condition is satisfied. Two novel scalable algorithms for solving cooperative path-finding in bi-connected graphs are presented. Both algorithms target environments that are densely populated by agents. A theoretical and experimental evaluation shows that the suggested algorithms represent a viable alternative to search based techniques as well as to techniques employing permutation groups on the studied class of the problem.

During automated problem solving it may happen that some knowledge that is known at the user level is lost in the formal model. As this knowledge might be important for efficient problem solving, it seems useful to re-discover it in order to improve the efficiency of the solving procedure. This paper compares three methods for discovering certain implied constraints in the constraint models describing manufacturing (and other) processes with serial, parallel, and alternative operations. In particular, we focus on identifying equivalent nodes in the precedence graph with parallel and alternative branches. Equivalent nodes correspond to operations that either must be all simultaneously present or none of them can be present in the schedule. Such information is frequently known at the user level, but it is lost in the formal model. The paper shows that identifying equivalent nodes is an NP-hard problem in general, but it is tractable if the graph has a nested structure. As the nested structure is typical for real-life processes and workflows, we use the nested graphs to experimentally compare the proposed methods.

Much of the literature on multi-agent path finding focuses on undirected graphs, where motion is permitted in both directions along a graph edge. Despite this, travelling on directed graphs is relevant in navigation domains, such as pathfinding in games, and asymmetric communication networks. We consider multi-agent path finding on strongly biconnected directed graphs. We show that all instances with at least two unoccupied positions can be solved or proven unsolvable. We present a polynomial-time algorithm for this class of problems, and analyze its complexity. Our work may be the first formal study of multi-agent path finding on directed graphs.

High quality bilingual dictionaries are rarely available for lower-density language pairs, especially for those that are closely related. Using a third language as a pivot to link two other languages is a well-known solution, and usually requires only two input bilingual dictionaries to automatically induce the new one. This approach, however, produces many incorrect translation pairs because the dictionary entries are normally are not transitive due to polysemy and the ambiguous words in the pivot language. Utilizing the complete structures of the input bilingual dictionaries positively influences the result since dropped meanings can be countered. Moreover, an additional input dictionary may provide more complete information for calculating the semantic distance between word senses which is key to suppressing wrong sense matches. This paper proposes an extended constraint optimization model to inducing new dictionaries of closely related languages from multiple input dictionaries, and its formalization based on Integer Linear Programming. Evaluations indicated that the proposal not only outperforms the baseline method, but also shows improvements in performance and scalability as more dictionaries are utilized.

This chapter is devoted to a problem of path planning for multiple robots (Ryan, 2008; Surynek, 2010a). Consider a group of mobile robots that can move in some environment (for example in the 2-dimensional plane with obstacles). Each robot of the group is given an initial and a goal position in the environment. The question of our interest is how to determine a sequence of motions for each robot of the group such that all the robots reach their goal positions starting from the initial ones. Physical limitations must be respected by robots: robots must not collide with each other and they must avoid obstacles in the environment during their movements. The problem of multi-robot path planning is motivated by many practical tasks. Various problems of navigating a group of mobile robots can be formulated as multi-robot path planning. However, the primary motivations for the problem are tasks of moving certain entities within an environment with a limited free space. Hence, the formulation of the problem is not limited to the case where robots are actually represented by mobile robots. The constraint of limited free space represents a key aspect that makes the problem interesting and non-trivial. It is quite intuitive to see that the problem becomes easier with a lot of free space in the environment. The interaction between robots (which corresponds to the probability of collisions) is low in such a case. Thus, it is possible to plan movements of each robot relatively independently with respect to other robots. Then the problem reduces almost to the series of simple single source path finding (Cormen et al., 2001) for each robot; potentially with finding alternative paths if a collision still occurs. On the other hand, if there is limited free space in the environment the problem becomes harder. Consider the situation where the space occupied by robots is comparable to the free space or even the situation where robots occupy larger space than the space that remains unoccupied in the environment. The interaction between robots (that is, the probability of collisions) is so high in such a case that finding a path for each robot independently no longer works. Therefore, different methods must be used. One of the aims of this chapter is to explain solving methods for these cases. Notice, that it is desirable to reason about the case with limited free space since practical tasks typically has this property. Such real-life examples include rearranging of shipping containers in warehouses (a robot is represented by a shipping container – see Fig. 1) or coordination of vehicles in dense traffic (robot = vehicle). Additionally, our reasoning should not be limited to physical entities only. A robot may be represented by a virtual entity or by a piece of commodity too. Thus, many tasks such as planning of data transfer between communication

Girard's Linear Logic is a formalism which can be used to manage a lot of problems with consumable resources. Its expressiveness is quite good for an easily understandable encoding of many problems. We concentrated on expressing planning problems by linear logic in this paper. We observed a rich usage of a construct of consumable resources in planning problem formulations. This fact motivates us to provide a possible encoding of planning problems in linear logic. This paper shows how planning problems can be encoded in Linear Logic and how some optimizations of planning problems can be encoded. These optimizations can help planners to improve the efficiency of finding solutions (plans).

Temporal networks play an important role in solving planning problems and they are also used, though not as frequently, when solving scheduling problems. In this paper we propose an extension of temporal networks by parallel and alternative branching. This extension supports modelling of alternative paths in the network; in particular, it is motivated by modelling alternative process routes in manufacturing scheduling. We show that deciding which nodes can be consistently included in this extended temporal network is an NP-complete problem. To simplify solving this problem, we propose a pre-processing step whose goal is to identify classes of equivalent nodes. The ideas are presented using precedence networks, but we also show how they can be extended to simple temporal networks

Dynamic Constraint Satisfaction Problems play a very important role in modeling and solving real-life problems where the set of constraints is changing. The paper addresses a problem of maintaining arc consistency after removing a constraint from the constraint model. A new dynamic arc consistency algorithm is proposed that improves the practical time efficiency of the existing AC|DC algorithm by using additional data-structures. The algorithm achieves real time efficiency close to the so far fastest DynAC-6 algorithm while keeping the memory consumption low.

A new type of partially global consistency derived from (2, k)-consistency called bounded (2, k)- consistency (B2C-consistency) is presented in this paper. It is designed for application in propositional satisfiability (SAT) as a building block for a preprocessing tool. Together with the new B2C-consistency a special mechanism for selecting regions of the input SAT instance with difficult constraint setup was also proposed. This mechanism is used to select suitable difficult sub-problems whose simplification through consistency can lead to a significant reduction in the effort needed to solve the instance. A new prototype preprocessing tool preprocessSIGMA which is based on the proposed techniques was implemented. As a proof of new concepts a competitive experimental evaluation on a set of relatively difficult SAT instances was conducted. It showed that our prototype preprocessor is competitive with respect to the existent preprocessing tools LiVer, NiVer, HyPre, blocked clause elimination (BCE), and Shatter with saucy 3.0.

In multi-agent path finding (MAPF) the task is to find non-conflicting paths for multiple agents. In this paper we focus on finding suboptimal solutions for MAPF for the sum-of-costs variant. Recently, a SAT-based approached was developed to solve this problem and proved beneficial in many cases when compared to other search-based solvers. In this paper, we present SAT-based unbounded- and bounded-suboptimal algorithms and compare them to relevant algorithms. Experimental results show that in many case the SAT-based solver significantly outperforms the search-based solvers.

We address a problem of area protection in graph-based scenarios with multiple agents. The problem consists of two adversarial teams of agents that move in an undirected graph shared by both teams. Agents are placed in vertices of the graph; at most one agent can occupy a vertex; and they can move into adjacent vertices in a conflict free way. Teams have asymmetric goals: the aim of one team - attackers - is to invade into given area while the aim of the opponent team - defenders - is to protect the area from being entered by attackers by occupying selected vertices. We study strategies for allocating vertices to be occupied by the team of defenders to block attacking agents. We show that the decision version of the problem of area protection is PSPACE-hard under the assumption that agents can allocate their target vertices multiple times. Further we develop various on-line vertex-allocation strategies for the defender team in a simplified variant of the problem with single stage vertex allocation and evaluated their performance in multiple benchmarks. The success of a strategy is heavily dependent on the type of the instance, and so one of the contributions of this work is that we identify suitable vertex-allocation strategies for diverse instance types. In particular, we introduce a simulation-based method that identifies and tries to capture bottlenecks in the graph, that are frequently used by the attackers. Our experimental evaluation suggests that this method often allows a successful defense even in instances where the attackers significantly outnumber the defenders.

Constraint satisfaction methodology has proven to be a successful technique for solving variety of combinatorial and optimization problems. Despite this fact, it was exploited very little in the planning domain. In particular hierarchical task network planning (HTN) [2] seems to be suitable for use of constraint programming. The formulation of HTN planning problem involves a lot of structural information which can be used to prune the search space. Encoding of this structural information by means of constraint programming would provide an effective way for such pruning during the search for solution. This work is supported by the Czech Science Foundation under the contract 201/04/1102.