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whoenig / libMultiRobotPlanning

Library with search algorithms for task and path planning for multi robot/agent systems
MIT License
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Low-level search in CBS-TA #38

Closed aakash0641 closed 2 years ago

aakash0641 commented 2 years ago

Hi, After reading the paper for CBS-TA, I had the understanding that CBS-TA uses A* search for low-level search (while resolving conflicts) (i.e. during execution of CBS part). But on going through the code, it seems that CBS-TA uses Dijkstra's algorithm for both the 1st assignment, and all subsequent assignments. Please let me know if I am missing something. I had started a thread on the discussion section, but it seemed that it was not sending notifications, so used this forum.

aakash0641 commented 2 years ago

An update: I realised my fault. I found that the conflict resolution by means of CBS used A*. But the root nodes (of firstAssignment and all subsequent nextBestAssignments) used Dijkstra. Am I right now ?

whoenig commented 2 years ago

Closing this in favor of https://github.com/whoenig/libMultiRobotPlanning/discussions/37.