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Jiaoyang-Li / CBSH2-RTC

An optimal MAPF sovler: CBS+prioritizing conflicts+bypassing+high-level heuritstics+symmetry reasoning
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some changes for code #2

Open sirius-zyj opened 1 year ago

sirius-zyj commented 1 year ago

If at time T, an agent occupies a grid, then at time T+1, no other agent except the occupant itself can move to this grid. In this case, how can I edit the code?

Jiaoyang-Li commented 1 year ago

The easiest way is to use this codebase with k=1: https://github.com/nobodyczcz/Lazy-Train-and-K-CBS The related paper is called "Symmetry Breaking for K-Robust Multi-Agent Path Finding".