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Home Page: https://april-zju.github.io/CL-CBS/
License: MIT License
An Efficient Multi-Agent Path Finding Solver for Car-Like Robots
Home Page: https://april-zju.github.io/CL-CBS/
License: MIT License
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.
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?
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.
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.
Do you use the code in https://github.com/whoenig/libMultiRobotPlanning?
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
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