CBS-rs

A Rust implementation of the Improved Conflict-Based Search algorithm for multi-agent pathfinding.

Installation

1. Install Rust from here.
2. Run cargo install --git https://github.com/natexcvi/cbs-rs to install the cbs-rs binary.

Usage

Run cbs-rs --help for usage information. Map and scenario files are in the Moving AI Labs format.

References

1. Boyarski, E., Felner, A., Stern, R., Sharon, G., Tolpin, D., Betzalel, O., & Shimony, E. (2015). ICBS: Improved conflict-based search algorithm for multi-agent pathfinding. In M. Wooldridge, & Q. Yang (Eds.), IJCAI 2015 - Proceedings of the 24th International Joint Conference on Artificial Intelligence (pp. 740-746). (IJCAI International Joint Conference on Artificial Intelligence; Vol. 2015-January). International Joint Conferences on Artificial Intelligence.
2. Silver, D. (2020). Cooperative Pathfinding
3. Li, Jiaoyang & Felner, Ariel & Boyarski, Eli & Ma, Hang & Koenig, Sven. (2019). Improved Heuristics for Multi-Agent Path Finding with Conflict-Based Search. 442-449. 10.24963/ijcai.2019/63.