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Multi Agent Path Finding (MAPF) Solvers

A suite of multi-agent path finding algorithm implementations. The MAPF algorithms implementation taken from Roni Stern and Eli Boyarski works

How to run (solve MAPF problems)

In Run.cs you need to add your ISolver implementation to solvers List. After your addition, go to Program.cs. At the main function you can choose to run in either one of the next modes:

  1. runGrids - You programtically define, using int arrays, the grid size, obstacles and agents. Then you run RunExperimentSet function with the given inputs.
  2. runSpecific - Will use grid definition file from bin\Debug\instances. Currently uses Instance-4-0-3-0 - a grid of 4x4 with 3 agents and no obstacles
  3. runNathan - Will run Nathan Sturtevant benchmarks.

Currently implemented Solvers

  1. A* and it's variations (Operator Decompsition, PartialExpansion, Independence Detection)
  2. CBS and it's variations
  3. ICTS
  4. MDD-SAT integration as an ISolver.
  5. LazyCBS integration as an ISolver.

Benchmark evaluations & algorithm selection

We conducted several experiments to evaluate the different MAPF algorithms. Furthermore, we trained algorithm selection models, based on XGBoost and VGG-16. The relevant code and data can be found at our github project page.