这是CBS算法的主要步骤,该算法通过不断处理冲突并生成新的节点,逐步搜索解空间,直到找到冲突-free的解或无法继续搜索。 3 案例 使用figure 1(i)中的示例进行说明,其中老鼠需要到达它们各自的奶酪。相应的CT显示在figure 1(ii)中。根包含一个空的约束集。在开始时,低层为每个智能体返回一个最优解,对于 a_1 ...
多智能体路径搜索（MAPF）涉及通过图定义一组智能体的路径规划，每个智能体都有起始与目标位置。路径规划需保证智能体间不冲突，同时优化整体移动成本。冲突基础搜索（CBS）算法及其变体是解决这类问题的关键。下面将详细介绍CBS算法和其改进版本。CBS算法分为高层与低层两个层次。高层通过处理冲突和生成新节...
Conflict-Based Search (CBS) is a widely used algorithm for solving multi-agent pathfinding (MAPF) problems optimally. The core idea of CBS is to run hierarchical search, when, on the high level the tree of solutions candidates is explored, and on the low-level an individual planning for a...
./cbs --help To test the code on more instances, you can download the MAPF instances from theMAPF benchmark. In particular, the format of the scen files is explainedhere. For a given number of agents k, the first k rows of the scen file are used to generate the k pairs of start...