MAPF-Competition / Start-Kit

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Support turn costs in 2024 default planner #60

Open dharabor opened 2 months ago

dharabor commented 2 months ago

As previously discussed, the new default planner needs to account for turn costs. The required changes are at two levels:

  1. Expander needs to updated, to consider turn actions
  2. State description needs to be updated, to add agent direction
  3. Heuristic tables need to be extended, from (x, y) to (x, y, \vec{v}) where \vec{v} is a unit vector describing the agent's orientation.
YueZhang-studyuse commented 2 months ago

update in branch 2024develop-pibt-turn, in evaluation

nobodyczcz commented 1 month ago

comments on 2024-9-6 Test the turning implementation

dharabor commented 1 week ago

What's the status of this one? I think we implemented (1) and (2) but not (3), is that right? @YueZhang-studyuse