Multi-Agent Path Finding: ICTS vs. EPEA*

YouTube Excerpt: Demo of Final Project for CMPT417 at Simon Fraser University. Project by Jeffrey Yamasaki, Marko Miletic, and Adam Bignell. Here are 4 examples of Increasing Cost Tree Search (ICTS) and Enhanced Partial Expansion A* (EPEA*) being used to solve the MAPF problem for 3 agents in 'open maps' and 'mazes'. The first two solutions are ICTS and EPEA* respectively, in the 'open map' instance type. The second two solutions are ICTS and EPEA* respectively, in the 'maze' instance type. Node that since we consider waiting and moving to have uniform cost, the algorithms do not distinguish between moving back and forth and waiting in place for 2 steps. This behaviour can be seen in ICTS's solution of the maze instance. Both algorithms solve the MAPF problem optimally under this assumption.

Demo of Final Project for CMPT417 at Simon Fraser University. Project by Jeffrey Yamasaki, Marko Miletic, and Adam Bignell. Here are 4 examples...

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