Lazy CBS: A multi-agent pathfinding solver, using a lazy clause generation backend

Dependencies:

• geas

  A lazy clause generation-based constraint programming solver. For Lazy CBS, only the C++ library and headers are necessary; it is not necessary to build the ML interface for flatzinc wrapper.

• ECBS

  The single-agent pathfinder for Lazy CBS is built on a modified version of ECBS. Source is available as a tarball under Downloads.

  Lazy CBS also requires the Boost program options library.

Building:

• First, build libgeas.a and libecbs.a from their respective code bases.
• In the Makefile, set GEAS_ROOT and ECBS_ROOT to the location of geas and ecbs respectively.
• Call make, which will build a binary lazy-cbs.

Acknowledgements

Many thanks to Liron Cohen, for providing the source to ECBS.