feat: Conflict Based Search #1335
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…better constraint finding
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Dec 29, 2025
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| 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. | ||
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| TODO: image waiting on this PR: https://github.com/AtsushiSakai/PythonRoboticsGifs/pull/14 |
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Will update when this PR merges: AtsushiSakai/PythonRoboticsGifs#14
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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
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