Python codes for robotics Multi-Vehicle-Movement-Sequence-Planning algorithm.

This is a Multi-Vehicle-Movement-Sequence-Planner.
This method can do the Multi-Vehicle-Movement-Sequence-Planning based on the topological map.
The output of this planner can be used in Multi-Vehicle-Trajectory-Planning.

Movement Sequence Planning based on the Pass Priority.

Any multi-vehicle conflict problem can be decomposed into multiple two-vehicle conflict problems.
Each two-vehicle conflict is caused by two vehicles passing through the same road at the same time.
The key to solving the problem is to coordinate the movement sequence, that is, the pass priority.

1. List all Pass Priority combination.
   
2. Evaluate and select optimal Pass Priority.
   
3. Plan based on a pass priority.

1. Let the highest priority vehicle go first.
   
   • Move other vehicles to yield region.
     
2. Remove it from Pass Priority List.
   
3. Loop