Willem van Osselaer

Dual-Informed Vertical Expansion for Multi-Objective Node Selection in Anytime Conflict-Based Search

Willem van Osselaer, Jiarui Li, Meshal Alharbi, Gioele Zardini

Conflict-Based Search (CBS) is a leading exact algorithm for Multi-Agent Path Finding (MAPF), but its high-level node-selection rule is usually treated as a fixed implementation detail. Standard best-first selection is strong for minimizing expanded nodes and closing the optimali…Read more