אריאל פלנר

Conflict-Based Search (CBS) is a leading two-level algorithm for optimal Multi-Agent Path Finding (MAPF). At the high level, CBS expands nodes by resolving conflicts. Recently, admissible heuristics were added to the high level of CBS. We enhance all known heuristic functions for CBS by using information about the cost of resolving certain conflicts, with only a small computational overhead. We experimentally demonstrate that the improved heuristics contribute to making CBS even more efficient.