{"id":"https://openalex.org/W4412508461","doi":"https://doi.org/10.1609/socs.v18i1.36010","title":"You May Split but You Might Work It Out Later: First Steps Toward Merging Nodes in MAPF (Extended Abstract)","display_name":"You May Split but You Might Work It Out Later: First Steps Toward Merging Nodes in MAPF (Extended Abstract)","publication_year":2025,"publication_date":"2025-07-20","ids":{"openalex":"https://openalex.org/W4412508461","doi":"https://doi.org/10.1609/socs.v18i1.36010"},"language":"en","primary_location":{"id":"doi:10.1609/socs.v18i1.36010","doi":"https://doi.org/10.1609/socs.v18i1.36010","is_oa":true,"landing_page_url":"https://doi.org/10.1609/socs.v18i1.36010","pdf_url":"https://ojs.aaai.org/index.php/SOCS/article/download/36010/38165","source":{"id":"https://openalex.org/S4387284494","display_name":"Proceedings of the International Symposium on Combinatorial Search","issn_l":"2832-9163","issn":["2832-9163","2832-9171"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1"],"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the International Symposium on Combinatorial Search","raw_type":"journal-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://ojs.aaai.org/index.php/SOCS/article/download/36010/38165","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5098974807","display_name":"Grigorios Mouratidis","orcid":"https://orcid.org/0009-0009-6797-0013","observed_orcids":["https://orcid.org/0009-0009-6797-0013"]},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Grigorios Mouratidis","raw_affiliation_strings":["University of Freiburg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Freiburg","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002446890","display_name":"Bernhard Nebel","orcid":"https://orcid.org/0000-0002-6833-6323","observed_orcids":["https://orcid.org/0000-0002-6833-6323"]},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bernhard Nebel","raw_affiliation_strings":["University of Freiburg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Freiburg","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5125714447","display_name":"Sven Koenig","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sven Koenig","raw_affiliation_strings":["University of California, Irvine"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Irvine","institution_ids":["https://openalex.org/I204250578"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14745308,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"18","issue":null,"first_page":"263","last_page":"264"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.00039999998989515007,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.0003000000142492354,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/multi-agent-pathfinding","display_name":"multi-agent path finding","score":0.6830000281333923},{"id":"https://openalex.org/keywords/conflict-based-search","display_name":"conflict-based search","score":0.7940000295639038},{"id":"https://openalex.org/keywords/node-merging","display_name":"node merging","score":0.7900000214576721},{"id":"https://openalex.org/keywords/constraint-based-reasoning","display_name":"constraint-based reasoning","score":0.722000002861023},{"id":"https://openalex.org/keywords/search-efficiency","display_name":"search efficiency","score":0.460999995470047},{"id":"https://openalex.org/keywords/optimality","display_name":"optimality","score":0.5220000147819519}],"concepts":[{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5867400169372559},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4905923902988434},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3915199935436249},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.36772650480270386},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1507611870765686},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.05069485306739807}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1609/socs.v18i1.36010","doi":"https://doi.org/10.1609/socs.v18i1.36010","is_oa":true,"landing_page_url":"https://doi.org/10.1609/socs.v18i1.36010","pdf_url":"https://ojs.aaai.org/index.php/SOCS/article/download/36010/38165","source":{"id":"https://openalex.org/S4387284494","display_name":"Proceedings of the International Symposium on Combinatorial Search","issn_l":"2832-9163","issn":["2832-9163","2832-9171"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1"],"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the International Symposium on Combinatorial Search","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1609/socs.v18i1.36010","doi":"https://doi.org/10.1609/socs.v18i1.36010","is_oa":true,"landing_page_url":"https://doi.org/10.1609/socs.v18i1.36010","pdf_url":"https://ojs.aaai.org/index.php/SOCS/article/download/36010/38165","source":{"id":"https://openalex.org/S4387284494","display_name":"Proceedings of the International Symposium on Combinatorial Search","issn_l":"2832-9163","issn":["2832-9163","2832-9171"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1"],"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the International Symposium on Combinatorial Search","raw_type":"journal-article"},"sustainable_development_goals":[],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4412508461.pdf","grobid_xml":"https://content.openalex.org/works/W4412508461.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"CBS":[0,94],"is":[1,85],"a":[2,46,71,92,98],"state-of-the-art":[3],"MAPF":[4],"algorithm":[5],"whose":[6],"performance":[7],"has":[8],"been":[9],"enhanced":[10],"over":[11],"the":[12,15,21,40,60,63,102],"years":[13],"by":[14],"introduction":[16],"of":[17,30,42,62,74,104],"heuristics":[18],"that":[19,26,32,53,78],"focus":[20],"search":[22],"and":[23],"reasoning":[24],"techniques":[25,52],"identify":[27],"specific":[28],"types":[29],"conflicts":[31],"can":[33],"be":[34],"resolved":[35],"faster.":[36],"To":[37],"further":[38],"improve":[39],"efficiency":[41],"CBS,":[43],"we":[44],"present":[45],"novel":[47],"idea":[48],"based":[49],"on":[50,108],"constraint-reasoning":[51],"merges":[54],"similar":[55,82],"high-level":[56,83,106],"nodes":[57,84,107],"close":[58],"to":[59],"root":[61],"constraint":[64],"tree":[65],"while":[66],"preserving":[67],"CBS'":[68,75],"optimality.":[69],"As":[70],"result,":[72],"some":[73],"duplicate":[76],"work":[77],"occurs":[79],"when":[80],"expanding":[81],"avoided.":[86],"Our":[87],"first":[88],"experimental":[89],"results":[90],"using":[91],"simple":[93],"variant":[95],"(ICBS-h)":[96],"show":[97],"significant":[99],"reduction":[100],"in":[101],"number":[103],"expanded":[105],"average.":[109]},"counts_by_year":[],"updated_date":"2026-10-06T10:28:23.643775","created_date":"2025-10-10T00:00:00"}
