Research on CBS Algorithm Based on Dynamic Time Windows

Multi-agent path planning in complex environments faces issues such as path conflicts and deadlocks, and the traditional CBS algorithm with a fixed time window is inefficient in handling dynamic environments. To address this, this paper proposes a Conflict-Based Search algorithm with dynamic time wi...

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Bibliographic Details
Published in2025 8th International Conference on Advanced Algorithms and Control Engineering (ICAACE) pp. 365 - 370
Main Authors Li, Wenxuan, Gong, Jianning
Format Conference Proceeding
LanguageEnglish
Published IEEE 21.03.2025
Subjects
Accuracy
Conflict-Based Search (CBS)
deadlock
Dynamic time windows
Faces
Heuristic algorithms
multi-agent path planning
Optimization
Path planning
Real-time systems
Reinforcement learning
Robustness
System recovery
system throughput
Throughput
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DOI10.1109/ICAACE65325.2025.11020578

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Summary:Multi-agent path planning in complex environments faces issues such as path conflicts and deadlocks, and the traditional CBS algorithm with a fixed time window is inefficient in handling dynamic environments. To address this, this paper proposes a Conflict-Based Search algorithm with dynamic time windows (DTW-CBS), which introduces a potential function to dynamically adjust the time window size based on the real-time progress of agents and conflict risks. This improves path planning efficiency, reduces conflicts, optimizes path quality, and enhances system throughput. Experimental results show that DTW-CBS outperforms the traditional CBS algorithm in execution time, path quality, and system throughput, especially in high-density and complex environments. However, the performance of DTW-CBS in extremely high-density environments still has room for improvement.
DOI:10.1109/ICAACE65325.2025.11020578