A simple graph library with single-agent pathfinding algorithms, used in my research projects, e.g., time-independent-planning, mapf-IR. It is written in C++(17) with CMake (≥v3.16) build. For usage, see examples.
map format: Pathfinding Benchmarks
This software is released under the MIT License, see LICENSE.txt.
Keisuke Okumura is a Ph.D. student at the Tokyo Institute of Technology, interested in controlling multiple moving agents.