jiaoyang-li/eecbs

A bounded-suboptimal solver for Multi-Agent Path Finding

eecbs's Issues

How to remove WAIT action

Is there a quick way to disallow agents to wait? Otherwise, which classes I need to change?

Adding Brew as option for installing Boost

I was trying to install the Boost library on my M1 Mac to run EECBS but none of the available options would allow the code to compile (linker found issues with arm64 v. x86 and that was a big mess to deal with); in the end I found that doing brew install boost actually worked for me and might be more efficient than downloading the library directly!

When the robot occupies multiple nodes

Hello, I am someone who uses code. I am having a problem with using an irregular map without a grid. The issue is that the robot occupies multiple nodes, and when detecting collisions and applying conflict constraints, I want to apply vertex constraints to all the nodes occupied by the robot's size. Can you help me with this?

unused code

Hi Jiaoyang, thanks for your great work!

When using the repo, I find that that this segment of code when finding conflicts is no-op.
I'm not sure is it intended for some imcompleted optimization, and will it influence the efficiency of this part.

EECBS/src/CBS.cpp

Lines 148 to 156 in 2c5bf95

	bool skip = false;
	for (auto it2 = new_agents.begin(); it2 != it; ++it2)
	{
	if (*it2 == a2)
	{
	skip = true;
	break;
	}
	}

I have a question on targetConflict ()

	void targetConflict(int a1, int a2, int v, int t)
	{
        constraint1.clear();
        constraint2.clear();
		this->a1 = a1;
		this->a2 = a2;
		this->constraint1.emplace_back(a1, v, -1, t, constraint_type::LEQLENGTH);
		this->constraint2.emplace_back(a1, v, -1, t, constraint_type::GLENGTH);
		type = conflict_type::TARGET;
	}

Is it correct to put a1 agent in both constraint1 and constraint2?

make error

when I make with cmake done, there are a lot of errors. But i can't find what the errors are. Have you ever meet this situation?

Is there a recommended way to visualize the results "paths.txt"? Thanks！

Code consultation

How to output the success rate by running "driver.cpp" file?