Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Improving Continuous-time Conflict Based Search   Conflict-Based Search (CBS) is a powerful algorithmic framework for optimally
solving classical multi-agent path finding (MAPF) problems, where time is
discretized into the time steps. Continuous-time CBS (CCBS) is a recently
proposed version of CBS that guarantees optimal solutions without the need to
discretize time. However, the scalability of CCBS is limited because it does
not include any known improvements of CBS. In this paper, we begin to close
this gap and explore how to adapt successful CBS improvements, namely,
prioritizing conflicts (PC), disjoint splitting (DS), and high-level
heuristics, to the continuous time setting of CCBS. These adaptions are not
trivial, and require careful handling of different types of constraints,
applying a generalized version of the Safe interval path planning (SIPP)
algorithm, and extending the notion of cardinal conflicts. We evaluate the
effect of the suggested enhancements by running experiments both on general
graphs and $2^k$-neighborhood grids. CCBS with these improvements significantly
outperforms vanilla CCBS, solving problems with almost twice as many agents in
some cases and pushing the limits of multiagent path finding in continuous-time
domains.

23
The categories of this paper are: solv-int
20
The categories of this paper are: acc-phys
2
The categories of this paper are: math
24
The categories of this paper are: dg-ga
4
The categories of this paper are: cond-mat
34
The categories of this paper are: chem-ph
19
The categories of this paper are: eess
26
The categories of this paper are: bayes-an
21
The categories of this paper are: adap-org
9
The categories of this paper are: nlin
16
The categories of this paper are: stat
11
The categories of this paper are: hep-lat
25
The categories of this paper are: patt-sol
5
The categories of this paper are: gr-qc
0
The categories of this paper are: hep-ph
18
The categories of this paper are: econ