Comments (2)
Yes, this can be done. The modification to the basic version (i.e., CBS without improvement) should be easy. You just need to change the low-level search from A* to multi-label A*. But, if you want to keep those CBS improvements, it requires some additional efforts to take care of data structures like MDD. You can find some details in this paper: https://ieeexplore.ieee.org/document/9812020
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Thank you very much!
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