Multi Agent Path Finding assignment for CSCI-360 at USC.

Multi-agent pathfinding project

Implementation of some pathfinding and multi-agent pathfinding algorithms

Multi-agent Pathfinding through Team Coordination on Graphs with Risky Edges and Support Nodes i.e TCGRE problem (IROS-2023).

Multiagent Pathfinding Problem for agricultural swarm agents. Used CBS algorithm for search. To know more, refer to the report attached in the link below.

code corresponding to a research paper about M* (M star) and it's modification to solve multi agent pathfinding with matching problems (MMAPF)

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.

Learnable MAPF. “Distributed Heuristic Multi-Agent Path Finding with Communication” (DHC) algorithm from ICRA 2021 is implemented and benchmarked in out-of-distribution (OOD) scenarios. A new robust training loop to handle communication failures is introduced.

Quick Multi-Robot Motion Planning by Combining Sampling and Search (IJCAI-23)

[IROS 2024] EPH: Ensembling Prioritized Hybrid Policies for Multi-agent Pathfinding

CTRMs: Learning to Construct Cooperative Timed Roadmaps for Multi-agent Path Planning in Continuous Spaces (AAMAS-22)

LaCAM: Search-Based Algorithm for Quick Multi-Agent Pathfinding (AAAI-23)

Priority Inheritance with Backtracking for Iterative Multi-agent Path Finding (AIJ-22)