AnyGeometry-CBS

Any Geometry Conflict-Based Search for Multi-Agent Path Finding

ℹ️ About

AG-CBS is a framework designed for Multi-Agent Path Finding (MAPF) with arbitrary shapes. Unlike traditional single grid-based or point-agent methods, AG-CBS handles complex geometries to ensure collision-free paths in more realistic environments.

Build Instructions

# 1. Clone the repository 
git clone https://github.com/NKU-MobFly-Robotics/AnyGeometry-CBS.git
cd AnyGeometry-CBS

# 2. Build with CMake 
mkdir build && cd build
cmake ..
make -j

🚀 Usage

You can test the planners using the provided map. Please ensure the output directory ../src/output/ exists before running.

Running AG-CBS:

cd build/
./AG_CBS -i ../src/maps/warehouse_agent6_1.yaml -o ../src/output/result1.yaml

Running AG-ECBS:

./AG_ECBS -i ../src/maps/warehouse_agent6_1.yaml -o ../src/output/result2.yaml

🤝 Acknowledgments

This implementation incorporates and extends parts of the libMultiRobotPlanning library. We thank the original authors for their contributions to the MAPF community.

📄 License

This project is licensed under the MIT License.