jiaoyang-li / pbs Goto Github PK

Hi,

Thanks for the insightful work.

I have one question regarding the determination of the agents to be replanned.
In PBS::generateChild, two agents in conflict are set to low and high priority respectively. Agent Low is added to the replan queue apparently. The additional conflicts between agent a1 "lower than low" and agent a2 "higher than high" is considered to be affected by the new priority order, thus a1 is added to the replan queue as well.
My confusion is why not replan agent a1 if a conflict occurs between a1(lower than low) and a2(higher than low), as it seems this conflict should also obey the new priority order.

Please correct me if I am wrong: the topological_orders is based on the priority graph and offers a guideline to plan paths for agents in sequence, but it does not specify a strict priority relationship between agents, which means a conflict between a and b still might occur even topological_orders[a] > topological_orders[b]. But priority_graph is a hard binary priority relationship and cannot be violated, right?