Research map / Multi-agent systems and games / Human-AI and goal-conditioned
Effective Integration of Weighted Cost-to-Go and Conflict Heuristic within Suboptimal CBS
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Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| Add a relative conflict weight r=5 to weighted FOCAL | WF-EECBS · 8 MAPF maps, w_so=2 | median speedup: 1 -> 9.5 | Helped |
| Use weighted FOCAL with r=5 and w_h=8 | ECBS and EECBS · w_so=1.01 | median speedup: 0.45 | Hurt |
| Use weighted FOCAL with r=5 and w_h=8 | ECBS and EECBS · w_so=1.5 | median speedup: 3.5 and 3.7 | Helped |
| Add weighted cost-to-go to OPEN (w_h=1.5) | WO-EECBS · 8 MAPF maps, w_so=2 | median speedup: 1 -> 2.7 | Helped |
| Increase OPEN heuristic weight from w_h=1.5 to w_h=2 (ablation) | WO-EECBS · 8 MAPF maps, w_so=2 | median speedup: 2.7 -> 0.66 | Hurt |
| Use the improved lower bound (LB+) (ablation) | WO-EECBS (w_h=1.5) · 8 MAPF maps, w_so=2 | median speedup: 2.7 -> 2.4 | Hurt |
| Increase relative conflict weight from r=4 to r=8 (ablation) | WF-EECBS (w_h=4) · den312d, 150 agents, w_so=2 | speedup: 9.9 -> 6.1 | Hurt |
| Increase relative conflict weight from r=4 to r=16 (ablation) | WF-EECBS (w_h=4) · den312d, 150 agents, w_so=2 | speedup: 9.9 -> 3.9 | Hurt |
| Decrease relative conflict weight from r=4 to r=2 (ablation) | WF-EECBS (w_h=4) · den312d, 150 agents, w_so=2 | speedup: 9.9 -> 1.8 | Hurt |
| Add target conflicts to the low-level conflict heuristic (ablation) | EECBS · MAPF maps, updated conflict-heuristic analysis | runtime | Hurt |
| Remove target conflicts from conflict computation (ablation) | WF-EECBS versus EECBS · 8 MAPF maps | relative speedup: 2-100x -> 1.2-10x | Mixed |
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