Conflict-based-search

吾人自己实现的cbs算法

The following algorithms are currently supported:

• Single-Robot Algorithms
  • A*
• Multi-Robot Algorithms
  • Conflict-Based Search (CBS)

Building

Build on Ubuntu 22.04.

cmake .
make

Run example instances

A*

./a_star_mine

CBS

./cbs_mine -i ./benchmark/8x8_obst12_txt/map_8by8_obst12_agents8_ex10.txt -o output.yaml