2026-07-20T11:46:01Z https://drops.dagstuhl.de/oai

oai:drops-oai.dagstuhl.de:8459 2024-03-06T10:30:10Z ddc:004 open_access

Efficient Declarative Solutions in Picat for Optimal Multi-Agent Pathfinding Zhou, Neng-Fa Bartak, Roman Multi-agent Path Finding SAT MIP Picat 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. Schloss Dagstuhl – Leibniz-Zentrum für Informatik Neng-Fa Zhou and Roman Bartak 2018 Is Part Of OASIcs, Volume 58, Technical Communications of the 33rd International Conference on Logic Programming (ICLP 2017) InProceedings Text doc-type:ResearchArticle publishedVersion application/pdf doi:10.4230/OASIcs.ICLP.2017.11 urn:nbn:de:0030-drops-84595 https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.ICLP.2017.11 eng https://creativecommons.org/licenses/by/3.0/legalcode