An Efficient Multi-Agent Path Finding Solver for Car-Like Robots
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Updated
Jul 31, 2023 - C++
An Efficient Multi-Agent Path Finding Solver for Car-Like Robots
Continuous CBS - a modification of conflict based search algorithm, that allows to perform actions (move, wait) of arbitrary duration. Timeline is not discretized, i.e. is continuous.
Algorithm for prioritized multi-agent path finding (MAPF) in grid-worlds. Moves into arbitrary directions are allowed (each agent is allowed to follow any-angle path on the grid). Timeline is continuous, i.e. action durations are not explicitly discretized into timesteps. Different agents' size and moving speed are supported. Planning is carried…
Priority Inheritance with Backtracking for Iterative Multi-agent Path Finding (AIJ-22)
Iterative Refinement for Real-Time Multi-Robot Path Planning (IROS-21)
LaCAM: Search-Based Algorithm for Quick Multi-Agent Pathfinding (AAAI-23)
simple multi-agent pathfinding (MAPF) visualizer for research usage
Improving LaCAM for Scalable Eventually Optimal Multi-Agent Pathfinding (IJCAI-23)
Engineering LaCAM*: Towards Real-Time, Large-Scale, and Near-Optimal Multi-Agent Pathfinding (AAMAS-24)
[AAAI-2024] Follower: This study addresses the challenging problem of decentralized lifelong multi-agent pathfinding. The proposed Follower approach utilizes a combination of a planning algorithm for constructing a long-term plan and reinforcement learning for resolving local conflicts.
Offline Time-Independent Multi-Agent Path Planning (IJCAI-22, T-RO-23)
Multi Agent Path Finding assignment for CSCI-360 at USC.
This is the repo for the team Pikachu's solution in the League of Robot Competition 2023. Our solution won the Overall Best and Fast Mover tracks and ranked second in the Line Honours track.
[AAAI-2024] MATS-LP addresses the challenging problem of decentralized lifelong multi-agent pathfinding. The proposed approach utilizes a combination of Monte Carlo Tree Search and reinforcement learning for resolving conflicts.
An ROS implementation of optimal Multi-Agent Pathfinding algorithm ICTS (Increasing Cost Tree Search) , and a simple multi-agent navigation with ridgeback-robot simulated in Gazebo
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