This project is actively being developed to implement both optimal and suboptimal variants of the Conflict-Based Search (CBS) algorithm for Multi-Agent Path Finding (MAPF) using Rust.
Install the Rust toolchain
Build the project
cargo build --release
Config test scripts and save as yaml file under config filefolder, an example is showed in conf/test.yaml
| Parameter | Description |
|---|---|
--yaml-path |
Path to the YAML scenario file |
--map-path |
Path to the map file |
--output-path |
Output path for runtime statistics (CSV, etc.) |
--solution-path |
Output path for LACAM-style formatted solution |
--num-agents |
Number of agents |
--agents-dist |
Distribution of agents buckets |
--seed |
Random number generator seed |
--low-level-sub-optimal |
Suboptimal limit for low-level operations |
--high-level-sub-optimal |
Suboptimal limit for high-level operations |
--solver |
Solver to use (cbs, ecbs, bcbs, etc.) |
--debug-yaml |
Enable debugging with hardcoded debug.yaml |
--op-prioritize-conflicts |
Optimization: Prioritize conflicts |
--op-bypass-conflicts |
Optimization: Bypass conflicts |
--op-target-reasoning |
Optimization: Target reasoning |
Run the solver
cargo run --release -- $(paras)