├── .github └── workflows │ └── build.yml ├── .travis.yml ├── CBS-SIPP.pro ├── CMakeLists.txt ├── Demos ├── CCBS_different_connectivities.mp4 ├── CCBS_on_roadmaps.mp4 └── CCBS_vs_CBS.mp4 ├── Examples ├── config.xml ├── grid_map.xml ├── grid_task.xml ├── grid_task_log.xml ├── roadmap.xml ├── roadmap_task.xml └── roadmap_task_log.xml ├── ExpResults └── AAAI21_experiments_raw_data.xlsx ├── Instances ├── den520d_random.zip ├── empty-16-16-random.zip ├── roadmaps.zip ├── room-64-64-8_random.zip └── warehouse-10-20-10-2-2_random.zip ├── LICENSE.md ├── README.md ├── cbs.cpp ├── cbs.h ├── config.cpp ├── config.h ├── const.h ├── heuristic.cpp ├── heuristic.h ├── main.cpp ├── map.cpp ├── map.h ├── simplex ├── columnset.cpp ├── columnset.h ├── constraint.cpp ├── constraint.h ├── datamismatchexception.h ├── divisionbyzeroexception.h ├── indexoutofboundexception.h ├── matrix.cpp ├── matrix.h ├── matrixissingularexception.h ├── matrixnotsquareexception.h ├── memoryreachedoutexception.h ├── 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