mapf

There are 12 repositories under mapf topic.

• GavinPHR / Multi-Agent-Path-Finding

  Anonymous Multi-Agent Path Finding (MAPF) with Conflict-Based Search and Space-Time A*

  multi-agent-path-findingmapfcbsastarspace-timesimulationconflict-based-searchanonymous-multi-agent-path-finding
  Language:Python 319

• APRIL-ZJU / CL-CBS

  An Efficient Multi-Agent Path Finding Solver for Car-Like Robots

  cbsmapfrobotsplanningmultiagent-planning
  Language:C++ 318

• AIRI-Institute / pogema

  POGEMA stands for Partially-Observable Grid Environment for Multiple Agents. This is a grid-based environment that was specifically designed to be flexible, tunable and scalable. It can be tailored to a variety of PO-MAPF settings.

  reinforcement-learninggym-environmentsimulationpathfindingpo-mapfmarlmapf
  Language:Python 196

• PathPlanning / 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.

  mapfcbsconflict-based-searchmulti-agentpathfindingpathplanning
  Language:C++ 191

• speedzjy / mapf_ros

  This is a multi-agent path planning(also known as Multi-Agent Path Finding, MAPF) algorithm package for ROS

  mapfroboticsros
  Language:C++ 117

• Kei18 / mapf-IR

  Iterative Refinement for Real-Time Multi-Robot Path Planning (IROS-21)

  iterative-refinmentmapfmulti-agent-path-findingmulti-robot-path-planningpibt
  Language:C++ 111

• PathPlanning / 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.

  any-anglemapfmulti-agentpathfindingpathplanningsipp
  Language:C++ 99
• pymapf

  APLA-Toolbox / pymapf

  📍🗺️ A Python library for Multi-Agents Planning and Pathfinding (Centralized and Decentralized)

  mapfmulti-agentmulti-agent-systemmuli-agent-pathfindingroboticscontrolplanningplannngmulti-agent-planning
  Language:Python 66

• gloriyo / MAPF-ICBS

  Multi-agent pathfinding via Conflict Based Search

  mapfmulti-agent-path-findingcbsconflict-based-search
  Language:Jupyter Notebook 53
• mapf-visualizer

  Kei18 / mapf-visualizer

  simple multi-agent pathfinding (MAPF) visualizer for research usage

  mapfmulti-agent-path-findingvisualizer
  Language:C++ 50

• Kei18 / pibt2

  Priority Inheritance with Backtracking for Iterative Multi-agent Path Finding (AIJ-22)

  multi-agent-pathfindingpathfinding-algorithmmulti-robot-path-planningpibtmapfsimulation
  Language:C++ 50

• omron-sinicx / jaxmapp

  JAX-based implementation for multi-agent path planning (MAPP) in continuous spaces.

  jaxmapfdeep-learning
  Language:Jupyter Notebook 42

• jcontrerasleyton / MAPF

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

  cppmapf
  36

• Kei18 / lacam

  LaCAM: Search-Based Algorithm for Quick Multi-Agent Pathfinding (AAAI-23)

  mapfmulti-agent-path-findingmulti-agent-pathfindingpath-planningpathfinding
  Language:C++ 32

• Kei18 / lacam3

  Engineering LaCAM*: Towards Real-Time, Large-Scale, and Near-Optimal Multi-Agent Pathfinding (AAMAS-24)

  mapfmulti-agent-path-findingmulti-agent-path-planningpath-planningpathfinding
  Language:C++ 30

• Pieter-Cawood / M-TA-Prioritized-MAPD

  Multi-Agent Pickup and Delivery implementation

  mapdmapfmulti-agentpath-finding
  Language:Python 30

• AIRI-Institute / learn-to-follow

  [AAAI-2024] Follower: This study addresses the challenging problem of decentralized lifelong multi-agent pathfinding. The proposed Follower approach utilizes a combination of a planning algorithm for constructing a long-term plan and reinforcement learning for resolving local conflicts.

  aaai-2024gridlifelongmapfpathfindingpogemareinforcement-learning
  Language:C++ 26

• AIRI-Institute / when-to-switch

  "When to Switch" Implementation: Addressing the PO-MAPF challenge with RePlan & EPOM policies. This repo includes search-based re-planning, reinforcement learning techniques, and three mixed policies for pathfinding in partially observable multi-agent environments. 🤖🛤️

  gridmapfpathfindingreinforcement-learningpogema
  Language:Python 24

• Kei18 / otimapp

  Offline Time-Independent Multi-Agent Path Planning (IJCAI-22, T-RO-23)

  mapfmulti-agent-systemspath-planningpathfinding-algorithmsotimapp
  Language:C++ 22

• polinko13 / CBS

  CBS, MA-CBS algorithms and evaluation of these algorithms.

  mapfcbs
  Language:Jupyter Notebook 21

• Kei18 / lacam2

  Improving LaCAM for Scalable Eventually Optimal Multi-Agent Pathfinding (IJCAI-23)

  mapfmulti-agent-path-findingmulti-agent-path-planningpath-planningpathfinding
  Language:C++ 20

• Kei18 / sssp

  Quick Multi-Robot Motion Planning by Combining Sampling and Search (IJCAI-23)

  motion-planningmulti-robotpath-planningssspmapfmulti-agent-pathfinding
  Language:Julia 20

• Wadaboa / flatland-challenge

  Multi-agent reinforcement learning on trains, for Deep Learning class at UNIBO

  flatland-challengereinforcement-learningmarlmulti-agentmapfpath-findinggnngraph-neural-networks
  Language:TeX 20

• AIRI-Institute / mats-lp

  [AAAI-2024] MATS-LP addresses the challenging problem of decentralized lifelong multi-agent pathfinding. The proposed approach utilizes a combination of Monte Carlo Tree Search and reinforcement learning for resolving conflicts.

  alphazerogridlifelongmapfmctsmulti-agentpathfindingpogemaaaai-2024
  Language:C++ 19

• Kei18 / pypibt

  Minimal Python implementation of PIBT for MAPF

  mapfmulti-agent-path-findingpibt
  Language:Python 15

• ai4co / eph-mapf

  [IROS'24] EPH: Ensembling Prioritized Hybrid Policies for Multi-agent Pathfinding

  combinatorial-optimizationmapfmulti-agent-pathfindingmulti-agent-reinforcement-learningmulti-agent-systemsneural-combinatorial-optimizationpathfindingreinforcement-learning
  Language:Python 14
• sadg-controller

  alexberndt / sadg-controller

  Implementation of the SADG RHC feedback control scheme to reduce route completion times of delayed agents following MAPF plans.

  mapfoptimizationreceding-horizon-control
  Language:Python 14

• Kei18 / py-lacam

  Minimal Python implementation of LaCAM* for MAPF

  mapfmulti-agent-path-findinglacam
  Language:Python 13

• Chen-Gary / Layered-MAPF

  A Layered Approach for Multi-Agent Path Finding

  csharpmapfsimulationunity
  Language:ShaderLab 10

• pulakk / ConflictAvoidantCBS-MAPF

  Conflict Avoidant CBS (CA-CBS)

  unitymapfconflict-based-searchpath-findingmulti-agentconflict-avoidantca-cbs
  Language:C# 8
• research-project

  jdonszelmann / research-project

  code corresponding to a research paper about M* (M star) and it's modification to solve multi agent pathfinding with matching problems (MMAPF)

  mapfmulti-agent-pathfindingpathfindingastar-algorithmmatching
  Language:Roff 7

• AppleGamer22 / FIT2082

  Explainable Multi-Agent Path Finder (XMAPF, work in progress) based on Lazy Conflict-Based Search (Gange, Harabor and Stuckey, 2021).

  mapfccpplinuxpythonresearchxmapf
  Language:C++ 6

• alomb / CombinatorialOptimizationProject

  Combinatorial Decision Making and Optimization Course Project.

  constraint-programmingcplexmapfsat-solverz3py
  Language:Python 5

• Hechtov / MAPF-splitting-solver

  Multi Agent Path Finding (MAPF) advanced solver infrastructure with Bi-Directional solver and automated splitting method

  mapfmulti-agent-path-findingautomated-splitting-solver
  Language:C# 5

• DiligentPanda / MAPF-LRR2023

  This is the repo for the team Pikachu's solution in the League of Robot Competition 2023. Our solution won the Overall Best and Fast Mover tracks and ranked second in the Line Honours track.

  mapfmulti-agentmulti-agent-pathfindingplanning
  Language:C++ 4

• kaist-silab / HiMAP

  [AAMAS 2024] HiMAP: Learning Heuristics-Informed Policies for Large-Scale Multi-Agent Pathfinding

  aamas-2024imitation-learningmapfpathfinding
  Language:Python 4