{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/multi-objective-conflict-based-search-using","title":"Multi-objective Conflict-based Search Using Safe-interval Path Planning","arxiv_id":"2108.00745","date":"2021-08-02","proceeding":null,"authors":["Zhongqiang Ren","Sivakumar Rathinam","Maxim Likhachev","Howie Choset"],"abstract":"This paper addresses a generalization of the well known multi-agent path finding (MAPF) problem that optimizes multiple conflicting objectives simultaneously such as travel time and path risk. This generalization, referred to as multi-objective MAPF (MOMAPF), arises in several applications ranging from hazardous material transportation to construction site planning. In this paper, we present a new multi-objective conflict-based search (MO-CBS) approach that relies on a novel multi-objective safe interval path planning (MO-SIPP) algorithm for its low-level search. We first develop the MO-SIPP algorithm, show its properties and then embed it in MO-CBS. We present extensive numerical results to show that (1) there is an order of magnitude improvement in the average low level search time, and (2) a significant improvement in the success rates of finding the Pareto-optimal front can be obtained using the proposed approach in comparison with the previous MO-CBS.","url_abs":"https://arxiv.org/abs/2108.00745v3","url_pdf":"https://arxiv.org/pdf/2108.00745v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"multi-objective-conflict-based-search-using","repo_url":"https://github.com/wonderren/public_cppmomapf","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"multi-agent-path-finding","task_name":"Multi-Agent Path Finding"}],"methods":[{"method_slug":null,"method_name":"Travel"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}