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CBS-variants

Variants of Conflict-Based Search.

The code requires the external library BOOST (https://www.boost.org/).

OSI (https://github.com/coin-or/Osi), as abstract interface to a MIP solver, is also required.

Currently, Gurobi (https://www.gurobi.com/) is required as the concrete solver library, but integrating another library should be easy.

overview

To do:

  1. Add disjoint splitting -- done with the main framework, but still need different agent selection strategies and the landmark method.

  2. Improve the efficiency of sipp (or scipp), and let SIPP handle >length constraints.

  3. Add bypassing -- done with BP1. Do we need BP2 in https://docs.wixstatic.com/ugd/749b4b_6c85984d14ff4379b3a4400aab955b7b.pdf?

    • Does bypass help the 2-agent solver for WDG?
  4. Fix the bug in random restart.

Parameters:

  1. Heuristics (choose one)
    • Zero
    • CG
    • DG
    • WDG
  2. Conflict Selection (choose one)
    • Random
    • Earliest
    • Most conflicts
    • Most constraints
    • Least constraints
    • Width
    • Singletons
    • Prioritized Conflicts (PC) with tie-breaking (choose one)
      • Random
      • Earliest
      • Most conflicts
      • Most constraints
      • Least constraints
  3. Node Selection (choose one)
    • Random
    • Smallest h
    • Depth-first
    • Number of conflicts
    • Number of conflicting pairs
    • MVC on the conflict graph
  4. Symmetry reasoning (choose multiple)
    • Rectangle
    • Corridor
    • Target
    • Mutex
  5. Branching (choose one)
    • Non-disjoint
    • Disjoint
  6. Bypassing (choose one)
    • BP1 (no lookahead)
    • BP2 (depth-first lookahead)
    • 2-agent
  7. Random Restarts (choose multiple)
    • Root
    • All
  8. Low-Level Search (choose one)
    • A*
    • SIPP without CAT
    • SIPP with CAT

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