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    29 repositories

    • TP-SWAP

      Public
      Source code and data for algorithms designed for decentralized anonymous/unlabeled multi-agent pathfinding (AMAPF)
      Python
      •0•4•0•0•Updated Nov 18, 2024Nov 18, 2024

    • MPPI-Collision-Avoidance

      Public
      Jupyter Notebook
      •2•11•0•0•Updated Oct 1, 2024Oct 1, 2024

    • Decentralized-Unlabeled-Navigation

      Public
      0•0•0•0•Updated Oct 1, 2024Oct 1, 2024

    • Continuous-CBS

      Public
      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.
      pathfindingmulti-agentcbsmapfpathplanningconflict-based-search
      C++
      •
      MIT License
      •52•221•3•0•Updated Mar 29, 2024Mar 29, 2024

    • ORCA-algorithm

      Public
      Implementation of ORCA algorithm
      C++
      •22•126•0•0•Updated Mar 27, 2024Mar 27, 2024

    • LIAN

      Public
      Heuristic search algorithm for generating smooth paths for single-shot grid-based 2D path finding.
      C++
      •5•4•0•1•Updated Jan 24, 2024Jan 24, 2024

    • AMAPF-MF-BS

      Public
      Algorithm to solve Anonymous Multi Agent Path Finding problem with Maximum Flow reduction and fast Bulk search.
      Makefile
      •1•2•0•0•Updated Dec 19, 2023Dec 19, 2023

    • SIPP-IP

      Public
      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).
      C++
      •
      MIT License
      •6•12•1•0•Updated Dec 1, 2022Dec 1, 2022

    • Push-and-Rotate--CBS--PrioritizedPlanning

      Public
      3 algorithms for classical MAPF on 4 connected grid in one project
      C++
      •13•34•0•1•Updated Jun 30, 2022Jun 30, 2022

    • AA-SIPP-m

      Public
      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…
      pathfindingmulti-agentsipppathplanningany-anglemapf
      C++
      •
      MIT License
      •38•107•4•0•Updated Dec 5, 2021Dec 5, 2021

    • SuboptimalSIPP

      Public
      Implementation of different versions of Safe Interval Path Planning algorithm that can find bounded-suboptimal solutions.
      C++
      •10•28•0•0•Updated Nov 2, 2021Nov 2, 2021

    • TO-AA-SIPP

      Public
      Time-Optimal Any-Angle Safe Interval Path Planning
      C++
      •3•7•2•0•Updated Mar 13, 2021Mar 13, 2021

    • AStar-JPS-ThetaStar

      Public
      Basic algorithms for single-shot grid-based 2D path finding: BFS, Dijkstra, A*, Jump Point Search (JPS), Theta*
      C++
      •28•69•2•0•Updated Mar 9, 2021Mar 9, 2021

    • CBS--PrioritizedPlanning--MP

      Public
      C++
      •3•3•0•0•Updated Feb 9, 2021Feb 9, 2021

    • GAN-Path-Finder

      Public
      Generative Adversarial Networks for Path Planning in 2D
      Python
      •5•24•0•0•Updated Dec 14, 2020Dec 14, 2020

    • ORCAStarROS

      Public
      Decentralized navigation system based on ORCA and Theta* algorithms and implemented as ROS nodes
      C++
      •3•18•1•0•Updated Jul 15, 2020Jul 15, 2020

    • 3D-AStar-ThetaStar

      Public
      Basic algorithms for height map based 3D path planning: BFS, Dijkstra, A*, Theta*
      C++
      •20•82•1•0•Updated Apr 20, 2020Apr 20, 2020

    • CBS-SIPP

      Public
      C++ implementation of CBS with using SIPP as a low-level planner
      C++
      •3•9•0•0•Updated Nov 27, 2018Nov 27, 2018

    • ASearchTestUtility

      Public
      A small utility for testing a performance of path planning algorithms
      Python
      •0•0•0•0•Updated Nov 2, 2018Nov 2, 2018

    • AStar-DCO

      Public
      Path planning as heuristic search
      C++
      •1•0•0•0•Updated Aug 23, 2018Aug 23, 2018

    • LPLian

      Public
      Lifelong Planning version of LIAN algorithm
      grid-searchdynamic-searchpathplanninglian
      Jupyter Notebook
      •2•3•0•0•Updated Aug 23, 2018Aug 23, 2018

    • ASearchVisualizer

      Public
      Program for visualization of detailed logs of path planning algorithms
      astarpathfindingvisualizerpathplanning
      C++
      •
      GNU General Public License v3.0
      •1•2•0•0•Updated Mar 2, 2018Mar 2, 2018

    • MultiRobotPathFinding-ROS-Gazebo-Demo

      Public
      Will appear soon.
      Python
      •1•5•0•0•Updated Nov 29, 2017Nov 29, 2017

    • LIAN-old

      Public
      Algorithm for planning with turn angle limitation on grid maps.
      C++
      •1•1•0•0•Updated Nov 23, 2017Nov 23, 2017

    • LPAstar

      Public
      Lifelong Planning A* (LPA*) is a replanning method that is an incremental version of A* algorithm for single-shot grid-based 2D path finding.
      C++
      •5•21•0•0•Updated Nov 2, 2017Nov 2, 2017

    • DstarLite

      Public
      Repository provides an implementation of D*Lite algorithm adapted for single-shot grid-based 2D environment.
      C++
      •6•20•1•0•Updated Oct 26, 2017Oct 26, 2017

    • RectsToGridConverter

      Public
      Converts a set of polygons (defined as a sequences of (x,y) coordinates), placed inside a rectangular workspace, to square grid.
      C++
      •0•0•1•0•Updated Oct 23, 2017Oct 23, 2017

    • LPA-Dlite-nw

      Public
      Implementation of LPA and D*-lite algorithms, used for search in dynamics grid graphs (NON-WORKING)
      C++
      •1•2•0•0•Updated Aug 17, 2017Aug 17, 2017

    • GrB

      Public
      GridBug + A* path finding
      C++
      •2•0•0•0•Updated Apr 26, 2017Apr 26, 2017