db-ecbs script:
I) gets the discrete search solutions as before
II) does the Independent/parallel optimization for each robots
III) clustering is hard-coded
IV)creates the moving obstacles and runs the optimization on a meta-robot for each cluster in a loop.
Checked with swap4_drone example, where there is no obstacle in the environment.
db-ecbs script: I) gets the discrete search solutions as before II) does the Independent/parallel optimization for each robots III) clustering is hard-coded IV)creates the moving obstacles and runs the optimization on a meta-robot for each cluster in a loop.
Checked with swap4_drone example, where there is no obstacle in the environment.