ppianpak / MAPF

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

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