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Kinodynamic-CBS (K-CBS) is a decentralized motion planning algorithm capable of solving complex multi-agent motion planning queries for agent with complex, possibly unique, kinodynamic constraints.

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Chance Constrained K-CBS

Chance Constrained Kinodynamic-CBS (CCK-CBS) is a decoupled motion planning algorithm capable of solving complex multi-agent motion planning queries for robots with uncertain dynamics due to process and/or measurement noise. For details on the inner workings of the algorithm, please see our 2023 IEEE RAL Publication.

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This repository is the working implementation of CCK-CBS that requires (The Open Motion Planning Library) (OMPL) to run. If you are interested in the traditional K-CBS implementation from our 2022 IEEE IROS Publication, then please proceed to the new repository. Thank you for your cooperation and please feel free to open an issue if you have any questions.

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Kinodynamic-CBS (K-CBS) is a decentralized motion planning algorithm capable of solving complex multi-agent motion planning queries for agent with complex, possibly unique, kinodynamic constraints.

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