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

Home Page: https://april-zju.github.io/CL-CBS/

License: MIT License

CMake 3.02% C++ 86.83% Python 10.15%

cbs mapf robots planning multiagent-planning

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forrest-z mieximiemie colleyli lijuncheng001 shike1239 winnnger zxw610 xlan09 zcl2016 mmehrez liuxinren456852 jian-dong lyk125 xiaojake albaintelligence jewelryforge wenjiebit vtppplusgo mengxingshifen1218 gaows123 weelychisy zhp-ncu-dev mengwei1 generallu dlml 772894624 sincere-q mfkiwl ouyiyun yangsvm kwall1202 zhangaigh meetyyj zhgzheng hongcalmjin aecenas shaddeharod lvyv mr-d-self-driving gengwenhao dkhoanguyen qhb98 locke637 nk-le avani-agarwal1999 junqi047 thedush zanxueyan multirobots tantalummono gitupccc reyetechie qcz01 allvey wllla34 zjg1210 chengwei920412 hazeezadebayo arron-indrotek motionplanner multi-agent-schedule simonzhang1999 dispacher dwight-kyle yeranlee tfliang siliciuss luozhiyang-max foryl ashy50 jeeho-ahn yugit12 whaozhai dtbinh sillyendless iphet mustafakurban

cl-cbs's Issues

m_env.calcIndex(startState)

Hi,

I can't understand the meaning of this function，m_env.calcIndex(startState)；
In addition, in "isSolution" function, why should judge this condition : if (goal_distance > 3 * (Constants::LB + Constants::LF)), and how is the number 3 determined? I tried the numbers 1 and 5, and the efficiency will be much slower.

Thanks.

What is the version of the eigen library? I'm reporting an error here?

Meaning of deltat

namespace Constants {
// [m] --- The minimum turning radius of the vehicle
static float r = 3;
static float deltat = 6.75 * 6 / 180.0 * M_PI;

What does delta mean here？

The benchmark is wrong

I visualized the benchmark map and I found lots of the map have collisions between goal position and obstacles. For example, in map_50by50_obst25_agents20_ex0.yaml, the car7's goal position is collision with the obstalces.

ROS wrapper needed

Hi,

In your paper, you mention using ROS melodic for testing the system in the real world. Could you also upload the ROS-wrapper for your system?

Thanks

Regards,
Sidharth.

Dubins heuristic

copyright

Do you use the code in https://github.com/whoenig/libMultiRobotPlanning?

error: no declaration matches void Eigen::internal::product_selfadjoint_matrix

OMPL dependency

Hi, I found the work depends on the OMPL library while not being mentioned in the README. To get your code to tun, I installed the OMPL library from here: https://ompl.kavrakilab.org/core/download.html, and I manually included the OMPL install path to the CMake List. Maybe consider adding this in the dependency section.

Regards,
Dingyi

april-zju / cl-cbs Goto Github PK

cl-cbs's People

Contributors

Stargazers

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cl-cbs's Issues

m_env.calcIndex(startState)

What is the version of the eigen library? I'm reporting an error here?

Meaning of deltat

The benchmark is wrong

ROS wrapper needed

Dubins heuristic

copyright

error: no declaration matches void Eigen::internal::product_selfadjoint_matrix

OMPL dependency

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