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2 stars written in C++
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An efficient solver for lifelong Multi-Agent Path Finding

C++ 147 42 Updated Apr 24, 2023

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 conti…

C++ 109 40 Updated Dec 5, 2021