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IMRCLab / db-CBS

MIT License
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Optimization: Generalize to the multi-robot case #27

Closed whoenig closed 1 year ago

whoenig commented 1 year ago

The current optimization implementation is limited to two unicycles. We need to support arbitrary team sizes, as well as heterogeneous teams (i.e., team members with different dynamics).

akmaralAW commented 1 year ago

Heterogeneous_robot branch supports multi-robot case with single_integrator, double_integrator, unicycle, car_with_trailers_1 dynamics. The branch is also merged with Quim's latest changes (multirobot_optimization). I checked with parallelpark example (one unicycle + car_with_trailer). Please run the code, after I can close this issue.