{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,13]],"date-time":"2026-10-13T12:48:02Z","timestamp":1791895682520,"version":"4.3.4"},"reference-count":0,"publisher":"Association for the Advancement of Artificial Intelligence (AAAI)","issue":"01","license":[{"start":{"date-parts":[[2019,7,17]],"date-time":"2019-07-17T00:00:00Z","timestamp":1563321600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.aaai.org"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["AAAI"],"abstract":"<jats:p>We describe a new way of reasoning about symmetric collisions for Multi-Agent Path Finding (MAPF) on 4-neighbor grids. We also introduce a symmetry-breaking constraint to resolve these conflicts. This specialized technique allows us to identify and eliminate, in a single step, all permutations of two currently assigned but incompatible paths. Each such permutation has exactly the same cost as a current path, and each one results in a new collision between the same two agents. We show that the addition of symmetry-breaking techniques can lead to an exponential reduction in the size of the search space of CBS, a popular framework for MAPF, and report significant improvements in both runtime and success rate versus CBSH and EPEA* \u2013 two recent and state-of-the-art MAPF algorithms.<\/jats:p>","DOI":"10.1609\/aaai.v33i01.33016087","type":"journal-article","created":{"date-parts":[[2019,8,28]],"date-time":"2019-08-28T07:32:44Z","timestamp":1566977564000},"page":"6087-6095","source":"Crossref","is-referenced-by-count":37,"title":["Symmetry-Breaking Constraints for Grid-Based Multi-Agent Path Finding"],"prefix":"10.1609","volume":"33","author":[{"given":"Jiaoyang","family":"Li","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Daniel","family":"Harabor","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Peter J.","family":"Stuckey","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hang","family":"Ma","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sven","family":"Koenig","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"9382","published-online":{"date-parts":[[2019,7,17]]},"container-title":["Proceedings of the AAAI Conference on Artificial Intelligence"],"original-title":[],"link":[{"URL":"https:\/\/ojs.aaai.org\/index.php\/AAAI\/article\/download\/4565\/4443","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/ojs.aaai.org\/index.php\/AAAI\/article\/download\/4565\/4443","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,11,7]],"date-time":"2022-11-07T06:37:11Z","timestamp":1667803031000},"score":1,"resource":{"primary":{"URL":"https:\/\/ojs.aaai.org\/index.php\/AAAI\/article\/view\/4565"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,7,17]]},"references-count":0,"journal-issue":{"issue":"01","published-online":{"date-parts":[[2019,7,23]]}},"URL":"https:\/\/doi.org\/10.1609\/aaai.v33i01.33016087","relation":{},"ISSN":["2374-3468","2159-5399"],"issn-type":[{"value":"2374-3468","type":"electronic"},{"value":"2159-5399","type":"print"}],"subject":[],"published":{"date-parts":[[2019,7,17]]}}}