ICBS: Improved Conflict-Based Search Algorithm for Multi-Agent Pathfinding
Authors: Eli Boyarski, Ariel Felner, Roni Stern, Guni Sharon, David Tolpin, Oded Betzalel, Eyal Shimony,
IJCAI 2015 | Conference PDF | Archive PDF | Plain Text | LLM Run Details
| Reproducibility Variable | Result | LLM Response |
|---|---|---|
| Research Type | Experimental | Experimental results show that each of these improvements further reduces the runtime over the existing CBS-based approaches. When all improvements are combined, an even larger improvement is achieved, producing state-of-the-art results for a number of domains. |
| Researcher Affiliation | Academia | Eli Boyarski CS Department Bar-Ilan University (Israel) eli.boyarski@gmail.com Ariel Felner Roni Stern Guni Sharon ISE Department Ben-Gurion University felner@bgu.ac.il David Tolpin Oded Betzalel Eyal Shimony CS Department Ben-Gurion University shimony@cs.bgu.ac.il |
| Pseudocode | Yes | Algorithm 1: High-level of ICBS |
| Open Source Code | No | The paper states 'The code for all the experiments was written in C#', but does not provide any link or explicit statement about releasing the source code. |
| Open Datasets | Yes | Figure 3(a) shows the success rate (=number of instances solved by each algorithm within 5 minutes) for CBS, CBS+BP, CBS+PC and CBS+PC+BP (both improvements) on 8x8 4-connected grids with 15% obstacles averaged on 100 random instances. ... Figure 4 presents the success rate (left) and runtime (right) for the three standard benchmark maps (brc202d:top, ost003d:middle, den520d:bottom) of the game Dragon Age: Origins (DAO) [Sturtevant, 2012] that were used by Sharon et al. [2013; 2015], 100 instances per map. |
| Dataset Splits | No | The paper describes the datasets used (random instances on grids, DAO maps) and the number of instances, but does not provide specific details on how these were split into training, validation, and test sets. It reports success rates on these instances rather than using a distinct validation set for hyperparameter tuning. |
| Hardware Specification | Yes | The code for all the experiments was written in C# and all our experiments were conducted on Amazon Elastic Compute Cloud C4 servers running Microsoft Windows Server 2012 R2. Each High frequency Intel Xeon E5-2666 v3 (Haswell) processor operates at 2.9GHz, and has 3.33GB of RAM. |
| Software Dependencies | No | The paper mentions that the code was 'written in C#' and ran on 'Microsoft Windows Server 2012 R2', but does not provide specific version numbers for any libraries, frameworks, or other ancillary software components. |
| Experiment Setup | Yes | The starting positions for agents were chosen randomly and their goal positions were chosen by a 100000-step random walk from the starting position. ... We compare ICBS(25) (=MA-CBS(25)+BP+PC+MR)... |