Optimal Task Assignment and Path Planning using Conflict-Based Search with Precedence and Temporal Constraints

Yu Quan Chong (Carnegie Mellon University), Jiaoyang Li (Carnegie Mellon University), Katia Sycara (Carnegie Mellon University)

Abstract

This paper examines the Task Assignment and Path Finding with Precedence and Temporal Constraints (TAPF-PTC) problem. We augment Conflict-Based Search (CBS) to generate task assignments and collision-free paths that adhere to precedence and temporal constraints for agents to maximize a user-defined objective.