PathPlanning/Push-and-Rotate--CBS--PrioritizedPlanning

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Created over 4 years ago
Updated over 2 years ago

PathPlanning/Push-and-Rotate--CBS--PrioritizedPlanning

PathPlanning

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3 algorithms for classical MAPF on 4 connected grid in one project

Continuous-CBS

Continuous CBS - a modification of conflict based search algorithm, that allows to perform actions (move, wait) of arbitrary duration. Timeline is not discretized, i.e. is continuous.

ORCA-algorithm

Implementation of ORCA algorithm

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.

3D-AStar-ThetaStar

Basic algorithms for height map based 3D path planning: BFS, Dijkstra, A*, Theta*

AStar-JPS-ThetaStar

Basic algorithms for single-shot grid-based 2D path finding: BFS, Dijkstra, A*, Jump Point Search (JPS), Theta*

SuboptimalSIPP

Implementation of different versions of Safe Interval Path Planning algorithm that can find bounded-suboptimal solutions.

LPAstar

Lifelong Planning A* (LPA*) is a replanning method that is an incremental version of A* algorithm for single-shot grid-based 2D path finding.

GAN-Path-Finder

Generative Adversarial Networks for Path Planning in 2D

ORCAStarROS

Decentralized navigation system based on ORCA and Theta* algorithms and implemented as ROS nodes

DstarLite

Repository provides an implementation of D*Lite algorithm adapted for single-shot grid-based 2D environment.

SIPP-IP

Safe Interval Path Planning with Intervals Projection (SIPP-IP) - a SIPP-based planner capable of handling non-instantaneous accelerations/decelerations of an agent (kinodynamic constraints).

CBS-SIPP

C++ implementation of CBS with using SIPP as a low-level planner

TO-AA-SIPP

Time-Optimal Any-Angle Safe Interval Path Planning

MPPI-Collision-Avoidance

Jupyter Notebook

MultiRobotPathFinding-ROS-Gazebo-Demo

Will appear soon.

CBS--PrioritizedPlanning--MP

LIAN

Heuristic search algorithm for generating smooth paths for single-shot grid-based 2D path finding.

LPLian

Lifelong Planning version of LIAN algorithm

Jupyter Notebook

ASearchVisualizer

Program for visualization of detailed logs of path planning algorithms

LPA-Dlite-nw

Implementation of LPA and D*-lite algorithms, used for search in dynamics grid graphs (NON-WORKING)

AMAPF-MF-BS

Algorithm to solve Anonymous Multi Agent Path Finding problem with Maximum Flow reduction and fast Bulk search.

LIAN-old

Algorithm for planning with turn angle limitation on grid maps.