Multi Agent Search
Multi Agent Heuristics¶
Makespan¶
The heuristic is guided by the maximum cost present for all of the agents. $$ h(s) = max_{a_i \in S}(MD(a_i, g)) $$
\[
h(s) = max_{a_i \in S}(a^*(a_i, g))
\]
Sum of the Costs¶
The heuristic is guided by the summation of costs for all of the agents. $$ h(s) = \sum_{a_i \in S} (a^*(a_i, g)) $$