Repository navigation
feat: Conflict Based Search - #1335
Open
SchwartzCode wants to merge 32 commits into
Open
SchwartzCode wants to merge 32 commits into
SchwartzCode wants to merge 32 commits into
Conversation
![github-advanced-security[bot]](https://avatars.githubusercontent.com/in/57789?s=60&v=4){kind=small}
| from PathPlanning.TimeBasedPathPlanning.Node import NodePath | ||
| from PathPlanning.TimeBasedPathPlanning.BaseClasses import SingleAgentPlanner | ||
| from PathPlanning.TimeBasedPathPlanning.SafeInterval import SafeIntervalPathPlanner | ||
| from PathPlanning.TimeBasedPathPlanning.SpaceTimeAStar import SpaceTimeAStar |
Check notice
Code scanning / CodeQL
Unused import Note
Contributor
Author
There was a problem hiding this comment.
Left in so its easy to run with either planner (see main() function below)
…better constraint finding
SchwartzCode
force-pushed
the
jbs/conflict_based_search
branch
from
December 29, 2025 17:19
fffc61c to
3ffd2ff
Compare
SchwartzCode
changed the title
SchwartzCode
commented
Dec 29, 2025
|
|
||
| This algorithm can also solve some cases that a priority based planner cannot, such as the below example where one robot must move out of the way of another robot's path. Without cooperation across agent paths, this case cannot be solved. | ||
|
|
||
| TODO: image waiting on this PR: https://github.com/AtsushiSakai/PythonRoboticsGifs/pull/14 |
Contributor
Author
There was a problem hiding this comment.
Will update when this PR merges: AtsushiSakai/PythonRoboticsGifs#14
SchwartzCode
changed the title
SchwartzCode
marked this pull request as ready for review
December 31, 2025 16:19
Owner
|
@SchwartzCode Thank you for your PR. Could you please keep the existing 15-agent test for Please check How to contribute. |
Contributor
Author
|
@AtsushiSakai welcome back sir! Thanks for the comment - there was a bug in the code which I fixed here: |
This branch has not been deployed
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Reference issue
What does this implement/fix?
This pull request implements Conflict Based Search as outlined in this paper: https://cdn.aaai.org/ojs/8140/8140-13-11667-1-2-20201228.pdf
This is a MAPF algorithm (multi-agent path finding) that breaks the search into two levels. The upper level searches for a series of constraints on the agents that leads to a valid solution, and the lower level search finds paths for single agents given the constraints provided by the upper level search. The pseudo-code in the paper is a good reference for understanding the algorithm itself:
Additional information
PR into PythonRoboticsGifs here: AtsushiSakai/PythonRoboticsGifs#14
CheckList