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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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Want to change the code #8

Open KaChloe opened 3 months ago

KaChloe commented 3 months ago

Hi,Jiaoyang-Li. Thank you for your great contribution! I've learned a lot from your work. If I want to have multiple targets per agent, and I want to access them in a specified order, do I need to make a big change to the code?

Jiaoyang-Li commented 2 months ago

Yes, this can be done. The modification to the basic version (i.e., CBS without improvement) should be easy. You just need to change the low-level search from A to multi-label A. But, if you want to keep those CBS improvements, it requires some additional efforts to take care of data structures like MDD. You can find some details in this paper: https://ieeexplore.ieee.org/document/9812020

KaChloe commented 2 months ago

Thank you very much！