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Title: The collaborative iterative search approach to multi agent path finding
Author: Rhodes, Callum Gordon
ISNI:       0000 0004 7429 9754
Awarding Body: Newcastle University
Current Institution: University of Newcastle upon Tyne
Date of Award: 2017
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This thesis presents a new approach to obtaining optimal and complete solutions to Multi Agent Path Finding (MAPF) problems called Collaborative Iterative Search (CIS). CIS employs a conflict based scheme inspired by the Conflict Based Search (CBS) algorithm and extends this to include a linear order lower level search. The structure of Planar Graphs is leveraged, permitting further optimization of the algorithm. This takes the form of reasoning-based culling of the search space, while maintaining optimality and completeness. Benchmarks provided demonstrate significant performance gains over the existing state of the art, particularly in the case of sparsely populated maps. The thesis draws to a conclusion with a summary of proposed future work.
Supervisor: Not available Sponsor: Not available
Qualification Name: Thesis (Ph.D.) Qualification Level: Doctoral
EThOS ID:  DOI: Not available