Search algorithms package

This package contains implementations of search algorithms

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The following algorithms are implemented

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• Uninformed Search
  • Breadth-First Search
• Best-First Search
  • Dijkstra's algorithm
  • A* search
  • Weighted A* search
  • ARA* search (Anytime Repairing A*)
  • Experience-Accelerated Weighted A* search (EAWA*)
  • Focal Search
  • Focal Weighted A* search (FWA*)
  • Experience-Accelerated Focal Weighted A* search (EAFWA*)
  • Experimental: Experience-Graphs search (E=Graphs)
• Sampling-Based Search
  • dRRT
• Multi-Agent Path Finding
  • Conflict-Based Search
    • Conflict-Based Search (CBS)
    • Enhanced Conflict-Based Search (ECBS)
    • Conflict-Based MP Search (CBS-MP)
    • Enhanced Conflict-Based MP Search (ECBS-MP)
    • Experience-Accelerated Conflict-Based Search (xCBS)
    • Experience-Accelerated Enhanced Conflict-Based Search (xECBS)
  • Prioritized Planning
    • Prioritized Planning (PP)

Note: More algorithms will be added in the near future.

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Requirements

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The following packages are required to build the library

• Boost

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Building

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The package is built using CMake. The following commands can be used to build and install the package

cd search
mkdir build
cd build
cmake ..
make
sudo make install

Usage

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The package is designed to be used as a library. In domain directory, you will find two examples that demonstrate how to use the library. The examples are in two domains:

• 2D grid search
• Multi-Agent Path Finding (MAPF)

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Run the following to see an example of 2D grid search in action!

cd build
./run_2d_rob_nav_wastar 1 50 1