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Kei18 / lacam2

Improving LaCAM for Scalable Eventually Optimal Multi-Agent Pathfinding (IJCAI-23)
https://kei18.github.io/lacam2/
MIT License
21 stars 8 forks source link

adaption #10

Open sirius-zyj opened 2 months ago

sirius-zyj commented 2 months ago

As shown in the figure, the blue grid is a special square, and the robots will not collide on it (i.e., multiple robots can reach the grid point at the same time), can LACAM2 modify part of the code to adapt to this scenario? image

Kei18 commented 2 months ago

Hi, I think it's definitely possible. What you need to do is change the collision check condition.

C.f., collision check between constraints: https://github.com/Kei18/lacam2/blob/dev/lacam2/src/planner.cpp#L295C14-L300

collision check in PIBT: https://github.com/Kei18/lacam2/blob/dev/lacam2/src/planner.cpp#L345-L351

Best, Keisuke

sirius-zyj commented 2 months ago

Thank you very much, the above issue has been resolved. I sincerely ask for advice, if it is the case of the following figure, in which the red robot occupies multiple grid points, is it convenient to point out this kind of path planning idea? image

Kei18 commented 2 months ago

The setting appears to be MAPF for large agents. https://ojs.aaai.org/index.php/AAAI/article/view/4756

Adapting LaCAM to such settings is certainly possible. You can start thinking about how to apply A* with joint action space to your situation. Once that is done, LaCAM would not be difficult.

Keisuke