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dtu-ai-mas-final-assignment's Issues

Improvments

1. Sanity checks

  • What happened to the 3 levels we lost between master and MA implementation
  • Test state expansion

2. Preproc

  • Turn "dead" boxes into walls, when there are no agents to move the box
  • Figure out box to goal solution (?)

3. Multi agents

  • Trim state expansion for multi agent
  • Fix multi-agent conflict resolution (add CBS)
  • Fix CBS implementation

4. Heuristics

  • When the wall cost is zero (between the box and the goal) don't expand directions that don't get the box closer to the goal (note: The agent shouldn't be between the goal and the box in order for this to apply)

5. Preproc multi only

  • Assign agents to boxes (don't search each time)
  • Subgoal that clears the path for another agent

6. Overall perf

  • Drop a lot of pointers

7. Nice to have

  • Use bi direction search instead of A*

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