PathPlanning

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1. Continuous-CBS Continuous-CBSPublic

   Continuous CBS - a modification of conflict based search algorithm, that allows to perform actions (move, wait) of arbitrary duration. Timeline is not discretized, i.e. is continuous.

   C++ 269 59

2. ORCA-algorithm ORCA-algorithmPublic

   Implementation of ORCA algorithm

   C++ 181 30

3. AA-SIPP-m AA-SIPP-mPublic

   Algorithm for prioritized multi-agent path finding (MAPF) in grid-worlds. Moves into arbitrary directions are allowed (each agent is allowed to follow any-angle path on the grid). Timeline is conti…

   C++ 126 37

4. 3D-AStar-ThetaStar 3D-AStar-ThetaStarPublic

   Basic algorithms for height map based 3D path planning: BFS, Dijkstra, A*, Theta*

   C++ 99 21

5. AStar-JPS-ThetaStar AStar-JPS-ThetaStarPublic

   Basic algorithms for single-shot grid-based 2D path finding: BFS, Dijkstra, A*, Jump Point Search (JPS), Theta*

   C++ 71 32

6. Push-and-Rotate--CBS--PrioritizedPlanning Push-and-Rotate--CBS--PrioritizedPlanningPublic

   3 algorithms for classical MAPF on 4 connected grid in one project

   C++ 37 14