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.

Environment

Install the Rust toolchain

Usage

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)