Efficient Declarative Solutions in Picat for Optimal Multi-Agent Pathfinding

Authors Neng-Fa Zhou, Roman Bartak

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Neng-Fa Zhou
Roman Bartak

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Neng-Fa Zhou and Roman Bartak. Efficient Declarative Solutions in Picat for Optimal Multi-Agent Pathfinding. In Technical Communications of the 33rd International Conference on Logic Programming (ICLP 2017). Open Access Series in Informatics (OASIcs), Volume 58, pp. 11:1-11:2, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2018)


The multi-agent pathfinding (MAPF) problem has attracted considerable attention because of its relation to practical applications. The majority of solutions for MAPF are algorithmic. Recently, declarative solutions that reduce MAPF to encodings for off-the-shelf solvers have achieved remarkable success. We present a constraint-based declarative model for MAPF, together with its implementation in Picat, which uses SAT and MIP. We consider both the makespan and the sum-of-costs objectives, and propose a preprocessing technique for improving the performance of the model. Experimental results show that the implementation using SAT is highly competitive. We also analyze the high performance of the SAT solution by relating it to the SAT encoding algorithms that are used in the Picat compiler.
  • Multi-agent Path Finding
  • SAT
  • MIP
  • Picat


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