The repository aims to reproduce some commonly used search-based solvers for Multi-Agent Path Finding (MAPF) in Python.

• Conflict-Based Search (CBS)
• Conflict-Based Search with Disjoint Splitting (CBS-D)
• Priority-Based Search (PBS)
• Prioritized Planning (PP)

MAPF Benchmark Sets from Nathan Sturtevant's Moving AI Lab

• random-32-32-10.map
• random-64-64-10.map
• den312d.map
• warehouse-10-20-10-2-1.map

Generate the test set used for evaluation.

cd benchmarks
python create_test.py

python main.py --solver solver_name

Email: qiushi_lin@sfu.ca