LaCAM: Search-Based Algorithm for Quick Multi-Agent Pathfinding
Authors: Keisuke Okumura
AAAI 2023 | Conference PDF | Archive PDF | Plain Text | LLM Run Details
| Reproducibility Variable | Result | LLM Response |
|---|---|---|
| Research Type | Experimental | Our exhaustive experiments reveal that La CAM is comparable to or outperforms state-of-the-art sub-optimal MAPF algorithms in a variety of scenarios, regarding success rate, planning time, and solution quality of sum-of-costs. |
| Researcher Affiliation | Academia | Keisuke Okumura Tokyo Institute of Technology Tokyo, Japan okumura.k@coord.c.titech.ac.jp |
| Pseudocode | Yes | Algorithm 1 shows an example implementation of La CAM. |
| Open Source Code | Yes | La CAM was coded in C++, available in the online supplementary material. |
| Open Datasets | Yes | Next, we tested La CAM using the MAPF benchmark (Stern et al. 2019), which includes a set of four-connected grids and start goal pairs for agents. |
| Dataset Splits | No | The paper mentions using '25 random scenarios' from the MAPF benchmark but does not specify a distinct validation split or any explicit train/validation/test splits for reproducibility. |
| Hardware Specification | Yes | The experiments were run on a desktop PC with Intel Core i9-7960X 2.8 GHz CPU and 64 GB RAM. |
| Software Dependencies | No | The paper states 'La CAM was coded in C++' and mentions using 'implementations coded by their respective authors' for baselines, but it does not provide specific version numbers for any libraries, frameworks, or compilers used. |
| Experiment Setup | Yes | The runtime limit was set to 30 s following (Stern et al. 2019). La CAM was run five times for each setting. The runtime limit was set to 1000 s. ... The agent order of the initial high-level node was in descending order of the distance between the start and goal... In other high-level nodes... we prioritized agents who are not on their goal... |