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There may be infinite loop if there is no way from start point to goal point #44
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For A*, the algorithm is correct. For CBS (and related variants), you are correct that they do not terminate if no solution exist. This is also the case in the original papers. Termination can be achieved by using CBS+SIPP at the low-level, or by first checking if a solution exists using suboptimal solvers (not implemented here). |
Hi, |
I don't have example code ready, but you essentially just replace the low-level planner template from Astar to SIPP. When I tried it a few years back, it was slightly slower than regular CBS. |
I assume aside from replacing the low-level search to Sipp, converting constraints of high level to safe interval of the cell is also needed, right? |
Correct (to both questions). If you get it working it would be nice if you share it. I remember having implemented it before with this library, but it doesn't seem to be in any of the branches. |
Thanks. Will pull the request once I make it works. One more question comes with setting the safe intervals from constraints for an agent. |
libMultiRobotPlanning/include/libMultiRobotPlanning/a_star.hpp
Line 85 in b01a527
I think it could have infinite loop if no way from start point to goal point since there is an additional parameter(time) in State. And when you add a State to the set and queue, timestep may be different for same (x,y) so the set won't have any effort.
Correct me if I'm wrong.
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