Conflict Based Search

Conflict-Based Search (CBS) is a leading algorithm for solving Multi-Agent Path Finding (MAPF), the problem of finding collision-free paths for multiple agents navigating a shared environment. Current research focuses on improving CBS's efficiency and completeness, particularly through parallelization techniques, enhanced heuristic functions (like graph transformers), and novel constraint handling methods for continuous time and kinodynamic constraints. These advancements are crucial for applications like multi-robot systems and autonomous vehicle coordination, where efficient and robust path planning is essential for safe and optimal operation.