libMultiRobotPlanning is a library with search algorithms primarily for task and path planning for multi robot/agent systems. It is written in C++(14), highly templated for good performance, and comes with useful examples.
The following algorithms are currently supported:
Single-Robot Algorithms
Multi-Robot Algorithms
Assignment Algorithms
Tested on Ubuntu 16.04.
mkdir build
cd build
cmake ..
makemake: Build examples, onlymake docs: build doxygen documentationmake clang-format: Re-format all source filesmake clang-tidy: Run linter & static code analyzermake run-test: Run unit-testspython3 ../test/test_next_best_assignment.py TestNextBestAssignment.test_1by2./ecbs -i ../benchmark/32x32_obst204/map_32by32_obst204_agents10_ex1.yaml -o output.yaml -w 1.3
python3 ../example/visualize.py ../benchmark/32x32_obst204/map_32by32_obst204_agents10_ex1.yaml output.yaml