This repo contains the Python implementation of algorithms (NAMOA*, MOM*, MO-CBS) related to a multi-objective multi-agent path finding (MOMAPF) problem. The main purpose of the code is to illustrate and verify the algorithm, and is not optimized for performance. Script run_example.py can serve as an entry point to the planners. This repository is no more maintained and is not recommended for usage. This repository is now superseded by a more recent C++ implementation.
Papers and websites related to this repo. Please cite the corresponding papers if you find anything in this repository helpful.
-
[1] Homepage
-
[2] Multi-objective Conflict-based Search for Multi-agent Path Finding.
Zhongqiang Ren, Sivakumar Rathinam, and Howie Choset.
IEEE International Conference on Robotics and Automation (ICRA), 2021.
[bibtex] -
[3] Subdimensional Expansion for Multi-objective Multi-agent Path Finding.
Zhongqiang Ren, Sivakumar Rathinam, and Howie Choset.
IEEE Robotics and Automation Letters (RA-L), 2021.
[bibtex]
The code is distributed for academic and non-commercial use. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.