{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,10]],"date-time":"2026-02-10T08:24:04Z","timestamp":1770711844824,"version":"3.49.0"},"reference-count":0,"publisher":"IOS Press","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2016]]},"abstract":"<jats:p>In the multi-agent path finding (MAPF) the task is to find non-conflicting paths for multiple agents. In this paper we present the first SAT-solver for the sum-of-costs variant of MAPF which was previously only solved by search-based methods. Using both a lower bound on the sum-of-costs and an upper bound on the makespan, we are able to have a reasonable number of variables in our SAT encoding. We then further improve the encoding by borrowing ideas from ICTS, a search-based solver. Experimental evaluation on several domains showed that there are many scenarios where the new SAT-based method outperforms the best variants of previous sum-of-costs search solvers - the ICTS and ICBS algorithms.<\/jats:p>","DOI":"10.3233\/978-1-61499-672-9-810","type":"book-chapter","created":{"date-parts":[[2025,2,24]],"date-time":"2025-02-24T11:59:50Z","timestamp":1740398390000},"source":"Crossref","is-referenced-by-count":14,"title":["Efficient SAT Approach to Multi-Agent Path Finding Under the Sum of Costs Objective"],"prefix":"10.3233","author":[{"family":"Surynek Pavel","sequence":"additional","affiliation":[]},{"family":"Felner Ariel","sequence":"additional","affiliation":[]},{"family":"Stern Roni","sequence":"additional","affiliation":[]},{"family":"Boyarski Eli","sequence":"additional","affiliation":[]}],"member":"7437","container-title":["Frontiers in Artificial Intelligence and Applications","ECAI 2016"],"original-title":[],"deposited":{"date-parts":[[2025,2,24]],"date-time":"2025-02-24T12:15:08Z","timestamp":1740399308000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.medra.org\/servlet\/aliasResolver?alias=iospressISBN&isbn=978-1-61499-671-2&spage=810&doi=10.3233\/978-1-61499-672-9-810"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016]]},"references-count":0,"URL":"https:\/\/doi.org\/10.3233\/978-1-61499-672-9-810","relation":{},"ISSN":["0922-6389"],"issn-type":[{"value":"0922-6389","type":"print"}],"subject":[],"published":{"date-parts":[[2016]]}}}