lacam

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.

POGEMA stands for Partially-Observable Grid Environment for Multiple Agents. This is a grid-based environment that was specifically designed to be flexible, tunable and scalable. It can be tailored to a variety of PO-MAPF settings.

This is a multi-agent path planning(also known as Multi-Agent Path Finding, MAPF) algorithm package for ROS

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 continuous, i.e. action durations are not explicitly discretized into timesteps. Different agents' size and moving speed are supported. Planning is carried out in (x, y, \theta) configuration space, i.e. agents' orientation are taken into account.

Engineering LaCAM*: Towards Real-Time, Large-Scale, and Near-Optimal Multi-Agent Pathfinding (AAMAS-24)

This repository contains MAPF-GPT, a deep learning-based model for solving MAPF problems. Trained with imitation learning on trajectories produced by LaCAM, it generates actions under partial observability without heuristics or agent communication. MAPF-GPT excels on unseen instances and outperforms state-of-the-art solvers.

JAX-based implementation for multi-agent path planning (MAPP) in continuous spaces.

[IROS 2024] EPH: Ensembling Prioritized Hybrid Policies for Multi-agent Pathfinding

[AAAI-2024] Follower: This study addresses the challenging problem of decentralized lifelong multi-agent pathfinding. The proposed Follower approach utilizes a combination of a planning algorithm for constructing a long-term plan and reinforcement learning for resolving local conflicts.

"When to Switch" Implementation: Addressing the PO-MAPF challenge with RePlan & EPOM policies. This repo includes search-based re-planning, reinforcement learning techniques, and three mixed policies for pathfinding in partially observable multi-agent environments. ???