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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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Makespan objective function #6

Open geass88 opened 7 months ago

geass88 commented 7 months ago

How about the possibility to switch to makespan objective function as mentioned in your paper? It would be great!

Jiaoyang-Li commented 7 months ago

It is not implemented in the code, but changing to makespan should be easy. You just need to change the cost of each CT node to the makespan of the paths in that node and turn off CBS heuristics.

geass88 commented 7 months ago

Thank you!! Maybe, it would be sufficient to change the ordering criterion of the nodes in file CBSNode.h

struct compare_node { bool operator()(const CBSNode n1, const CBSNode n2) const { return n1->makespan >= n2->makespan; } }

and as you suggest run with the --heuristics Zero flag. What do you think? Thank you in advance for your help.

Jiaoyang-Li commented 7 months ago

Yes, this should work