DDM: Database-Driven Collision Resolution

This repository includes the implementation of the collision resolution part of the DDM algorithm.

Path diversification not included for now.

Prerequisites

C++17, boost library, libMultiRobotPlanning for single robot planning.

How to use

The implementation is in Visual Studio 2015.

Compile and run main.cpp.

If you encounter assertion ddm_database[1].size() == 36 failure, please make sure the database folder is at the same directory as the program executable.

Other info

1. DDM video.
2. Main difference from the original DDM publication: the "corner case" (Fig. 3(e) in the paper) is now resolved using a 3x3 database with one obstacle.