jiaoyang-li / cbsh2-rtc Goto Github PK

If at time T, an agent occupies a grid, then at time T+1, no other agent except the occupant itself can move to this grid.
In this case, how can I edit the code?

Hi Jiaoyang,

I've read your papers introducing EECBS and CBSH2+RTC. I concluded that the optimal version of EECBS with all improvements (EECBS+ and w=1.0) is the same as CBSH2+RTC. I just wanted to ask if I missed something. Are there any differing mechanisms?

Thank you.

In this example ,agent2 conflict with agent3, use GR rectangle_strategy to determine that the conflict is not a rectangular conflict, but use R rectangle_strategy to determine that the conflict is a rectangular conflict.
(The upper left is the starting point)

Hi,Jiaoyang-Li. Thank you for your great contribution! I've learned a lot from your work. If I want to have multiple targets per agent, and I want to access them in a specified order, do I need to make a big change to the code?

Hi, Li. Any tool to visualize output paths ? I want to check whether intersections exist or not. Thanks.

How about the possibility to switch to makespan objective function as mentioned in your paper? It would be great!

Hi, Li, thanks for sharing your great work.
I read the paper and codes, the run example ./cbs -m random-32-32-20.map -a random-32-32-20-random-1.scen -o test.csv --outputPaths=paths.txt -k 30 -t 60 showed the Experiment 1-Game Maps which loads the benchmarks map in Instance.cpp. Instance.cpp loads Nathan's benchmark and your benchmark, does it mean you translate Warehouse Map and Railway Map into a self-defined format which is similar to Game Maps and use the part of codes related to your benchmark to load self-defined format maps?

Another question is, if I want to compare the result with algorithm that can work both on grid map and roadmap and I want to adapt CBSH2-RTC to work for roadmap, will it need to make a lot adaptation and can you give me some advice on that?

Thank you!