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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.

Explanation:

  • 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*.

How to use:

  • Go to Algorithms/ and select any of the algortihms.
  • Execute the main.sh shell scrip (use the README file for more information).

Requirements: