<filename>aaai-talk/slides.tex<gh_stars>0
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\title[Solving Sum-of-Costs MAPF with ASP]{Solving Sum-of-Costs Multi-Agent Pathfinding with \\ Answer-Set Programming}

\author[<NAME>,  Baier]{<NAME>\inst{1} ~~~ <NAME>\inst{2} ~~~ Jorge  A.\ Baier\inst{1,3}}

\institute[PUC/UNAB/IMFD Chile]{
\inst{1}
 Depto.\ de Ciencia de la Computación, PUC Chile\\
 \inst{2}
 Depto.\ de Ciencias  de la Ingenier\'ia, UNAB Chile\\
 \inst{3}
  Millennium Institute  for Foundational Research on Data, Chile
}

\date{AAAI-2020}

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\begin{frame}{Multi-Agent Pathfinding via ASP}

  \hspace{-3em}\begin{tabular}{cc}
  \begin{minipage}{.7\textwidth}\small
\begin{itemize}
\item First encoding of sum-of-costs MAPF to ASP
\item \textbf{Great}: in highly congested maps:
\begin{itemize}
  \item we outperform:
  \begin{itemize}
    \item SAT-based solvers
    \item heuristic-search-based solvers
  \end{itemize}
\end{itemize}
\item \textbf{Key}: a \textbf{linear} encoding for conflicts
\item \textbf{Interesting}: encoding of the optimization
\item \textbf{Unglamorous:}
\begin{itemize}
  \item outperformed on ``easy" problems
  \item does not scale to large maps
\end{itemize}
%\item Our approach does not scale to large maps, and does not outperform heuristic-search solvers when the number of agents is small.
\end{itemize}
\end{minipage} &
\begin{minipage}{.3\textwidth}
  \includegraphics[width=0.95\textwidth]{20x20_obs_succ_new.pdf} \hspace{.8in}
   \includegraphics[width=1.3\textwidth]{20x20_obs_runtime_new.pdf}
\end{minipage}

\end{tabular}
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