PathPlanning/AA-SIPP-m
Algorithm for prioritized multi-agent path finding (MAPF) in grid-worlds. Moves into arbitrary directions are allowed (each agent is allowed to follow any-angle path on the grid). Timeline is continuous, i.e. action durations are not explicitly discretized into timesteps. Different agents' size and moving speed are supported. Planning is carried out in (x, y, \theta) configuration space, i.e. agents' orientation are taken into account.
This tool helps operations managers and robotics engineers plan the movement of multiple robots or autonomous agents through a shared, grid-based environment. You provide a map of the area and the starting/ending points, sizes, and speeds for each agent. The system then generates precise, collision-free paths, considering each agent's orientation and allowing for any-angle movements and continuous timing, which results in a detailed plan for autonomous vehicle control.
124 stars. No commits in the last 6 months.
Use this if you need to coordinate multiple autonomous agents, such as robots on a factory floor or drones in a warehouse, ensuring they reach their destinations without colliding, taking into account their physical dimensions and movement capabilities.
Not ideal if your environment is dynamic with unpredictable obstacles, if agents need to collaboratively decide paths in real-time without predefined priorities, or if your planning horizon is very short-term and reactive rather than pre-planned.
Stars
124
Forks
37
Language
C++
License
MIT
Category
Last pushed
Dec 05, 2021
Commits (30d)
0
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