PathPlanning's repositories
Continuous-CBS
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.
ORCA-algorithm
Implementation of ORCA algorithm
AA-SIPP-m
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 out in (x, y, \theta) configuration space, i.e. agents' orientation are taken into account.
3D-AStar-ThetaStar
Basic algorithms for height map based 3D path planning: BFS, Dijkstra, A*, Theta*
AStar-JPS-ThetaStar
Basic algorithms for single-shot grid-based 2D path finding: BFS, Dijkstra, A*, Jump Point Search (JPS), Theta*
SuboptimalSIPP
Implementation of different versions of Safe Interval Path Planning algorithm that can find bounded-suboptimal solutions.
Push-and-Rotate--CBS--PrioritizedPlanning
3 algorithms for classical MAPF on 4 connected grid in one project
GAN-Path-Finder
Generative Adversarial Networks for Path Planning in 2D
ORCAStarROS
Decentralized navigation system based on ORCA and Theta* algorithms and implemented as ROS nodes
TO-AA-SIPP
Time-Optimal Any-Angle Safe Interval Path Planning
MultiRobotPathFinding-ROS-Gazebo-Demo
Will appear soon.
ASearchVisualizer
Program for visualization of detailed logs of path planning algorithms
LPA-Dlite-nw
Implementation of LPA and D*-lite algorithms, used for search in dynamics grid graphs (NON-WORKING)
AMAPF-MF-BS
Algorithm to solve Anonymous Multi Agent Path Finding problem with Maximum Flow reduction and fast Bulk search.
ASearchTestUtility
A small utility for testing a performance of path planning algorithms
RectsToGridConverter
Converts a set of polygons (defined as a sequences of (x,y) coordinates), placed inside a rectangular workspace, to square grid.