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Multi-Agent Path Finding in C++ (WHCA*, iWHCA*, WCBS)
mapf-astar's Introduction
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.
- 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*.
- Go to Algorithms/ and select any of the algortihms.
- Execute the main.sh shell scrip (use the README file for more information).
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