MAPF
Implementation of some of the most famous search-based algorithms for solving the Multi-Agent Path Finding problem, with some variants of the problem and a graphic user interface for the visualization of the results.
Implemented Algorithms
- Hierarchical Cooperative A* (HCA*) [David Silver, 2005]
- A*-Based Search
- Standley's enhancement: Operator Decomposition (OD) [Trevor Standley, 2010]
- Standley's enhancement: Independence Detection (ID) [Trevor Standley, 2010]
- Increasing Cost Tree Search (ICTS) [Guni Sharon et al., 2013]
- Conflict-Based Search (CBS) [Guni Sharon et al., 2015]
- M* [Glenn Wagner and Howie Choset, 2011]
Implemented Variants of the problem
Agents' behaviour at goal:
- Stay at goal;
- Disappear at goal after a choosable number of time steps;
Conflicts:
- Vertex conflicts: always checked;
- Edge conflicts: up to the user;
Objective functions:
- Sum of costs (SOC);
- Makespan