GitHub - jcontrerasleyton/MAPF: Multi-Agent Path Finding in C++ (WHCA*, iWHCA*, WCBS)

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Multi-Agent Path Finding in C++ (WHCA*, iWHCA*, WCBS)

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Name		Name	Last commit message	Last commit date
Latest commit History 14 Commits
Algorithms		Algorithms
Instances		Instances
Maps		Maps
include		include
lib/pkgconfig		lib/pkgconfig
README.md		README.md

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Multi-Agent Path Finding Algorithms

A compilation of three MAPF algorithms:

Windowed Hierarchical Cooperative A* (WHCA*) (D.Silver, 2006).
improved Windowed Hierarchical Cooperative A* (iWHCA*).
Windowed Conflict Based Search (WCBS), new algorithm by Jean Contreras.

Explanation:

iWHCA* is an improvement to WHCA* in the choice of partial routes.
WCBS is a modification of Conflict Based Search algorithm (CBS) (G.Sharon, et al. 2015) based on the dynamic windows of WHCA*.

How to use:

Go to Algorithms/ and select any of the algortihms.
Execute the main.sh shell scrip (use the README file for more information).

Requirements:

Boost: https://www.boost.org/doc/libs/1_66_0/more/getting_started/unix-variants.html

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Multi-Agent Path Finding in C++ (WHCA*, iWHCA*, WCBS)

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