├── .gitignore ├── CMakeLists.txt ├── Dockerfile ├── LICENSE ├── README.md ├── config ├── compare_geometric_and_explicit.yaml ├── make_roadmaps.yaml ├── planner_benchmark.yaml ├── planning_incrementally.yaml ├── roadmap_benchmark.yaml ├── roadmap_generation.yaml └── simplify_grid.yaml ├── experiments ├── configs │ ├── Berlin_100_CDT.yaml │ ├── Berlin_100_kPRM.yaml │ ├── Berlin_5000_CDT.yaml │ ├── Berlin_5000_kPRM.yaml │ ├── Berlin_700_CDT.yaml │ ├── Berlin_700_kPRM.yaml │ ├── den520d_100_CDT.yaml │ ├── den520d_100_kPRM.yaml │ ├── den520d_5000_CDT.yaml │ ├── den520d_5000_kPRM.yaml │ ├── den520d_700_CDT.yaml │ ├── den520d_700_kPRM.yaml │ ├── empty256_100_CDT.yaml │ ├── empty256_100_kPRM.yaml │ ├── empty256_5000_CDT.yaml │ ├── empty256_5000_kPRM.yaml │ ├── empty256_700_CDT.yaml │ ├── empty256_700_kPRM.yaml │ ├── generate_configs.py │ ├── maze_100_CDT.yaml │ ├── maze_100_kPRM.yaml │ ├── maze_5000_CDT.yaml │ ├── maze_5000_kPRM.yaml │ ├── maze_700_CDT.yaml │ ├── maze_700_kPRM.yaml │ ├── random_100_CDT.yaml │ ├── random_100_kPRM.yaml │ ├── random_5000_CDT.yaml │ ├── random_5000_kPRM.yaml │ ├── random_700_CDT.yaml │ ├── random_700_kPRM.yaml │ ├── room_100_CDT.yaml │ ├── room_100_kPRM.yaml │ ├── room_5000_CDT.yaml │ ├── room_5000_kPRM.yaml │ ├── room_700_CDT.yaml │ ├── room_700_kPRM.yaml │ ├── warehouse_100_CDT.yaml │ ├── warehouse_100_kPRM.yaml │ ├── warehouse_5000_CDT.yaml │ ├── warehouse_5000_kPRM.yaml │ ├── warehouse_700_CDT.yaml │ └── warehouse_700_kPRM.yaml ├── experiments_all.sh └── results │ ├── @map@setting.txt │ ├── Berlin_100_CDT.txt │ ├── Berlin_100_kPRM.txt │ ├── Berlin_700_CDT.txt │ ├── Berlin_700_kPRM.txt │ ├── den520d_100_CDT.txt │ ├── den520d_100_kPRM.txt │ ├── den520d_5000_CDT.txt │ ├── den520d_5000_kPRM.txt │ ├── den520d_700_CDT.txt │ ├── den520d_700_kPRM.txt │ ├── empty256_100_CDT.txt │ ├── empty256_100_kPRM.txt │ ├── empty256_5000_CDT.txt │ ├── empty256_5000_kPRM.txt │ ├── empty256_700_CDT.txt │ ├── empty256_700_kPRM.txt │ ├── maze_100_CDT.txt │ ├── maze_100_kPRM.txt │ ├── maze_700_CDT.txt │ ├── maze_700_kPRM.txt │ ├── random_100_CDT.txt │ ├── random_100_kPRM.txt │ ├── random_700_CDT.txt │ ├── random_700_kPRM.txt │ ├── room_100_CDT.txt │ ├── room_100_kPRM.txt │ ├── room_700_CDT.txt │ ├── room_700_kPRM.txt │ ├── warehouse_100_CDT.txt │ ├── warehouse_100_kPRM.txt │ ├── warehouse_700_CDT.txt │ └── warehouse_700_kPRM.txt ├── problem_instances ├── MAPF_Benchmark │ └── maps │ │ ├── Berlin_0_1024.map │ │ ├── Berlin_0_256.map │ │ ├── Berlin_1_256.map │ │ ├── arena.map │ │ ├── den520d.map │ │ ├── maze-128-128-10.map │ │ ├── random-64-64-10.map │ │ ├── room-64-64-16.map │ │ └── warehouse-20-40-10-2-2.map ├── roadmaps │ ├── Berlin_1024_3_CDT.txt │ ├── Berlin_1024_3_kPRM.txt │ ├── arena.txt │ ├── arena_kPRM.txt │ ├── sample.txt │ ├── sample2.txt │ └── sample3.txt └── spatial │ ├── Berlin.txt │ ├── Berlin_0_1024_simplified_3.0.txt │ ├── Berlin_0_256_simplified_3.0.txt │ ├── den520d.txt │ ├── empty256.txt │ ├── maze-128-128-1000agents.txt │ ├── maze.txt │ ├── random.txt │ ├── room-64-64-1000agents.txt │ ├── room.txt │ ├── sample.txt │ ├── sample2.txt │ ├── sample3.txt │ ├── sample4.txt │ └── warehouse.txt ├── src ├── base │ ├── benchmark.hpp │ ├── collision_report.hpp │ ├── geometry_2D.hpp │ ├── geometry_2D_for_generator.hpp │ ├── input.hpp │ ├── input_spatial.hpp │ ├── load_generators.cpp │ ├── load_generators.hpp │ ├── load_planners.cpp │ ├── load_planners.hpp │ ├── load_problems.cpp │ ├── load_problems.hpp │ ├── memory_usage.hpp │ ├── planner.hpp │ ├── problem.hpp │ ├── problem_with_explicit_collisions.hpp │ ├── problem_with_geometry.hpp │ ├── problem_with_grid.hpp │ ├── problem_with_turning.hpp │ ├── roadmap_generator.hpp │ ├── spatial.hpp │ └── spatial_planner.hpp ├── experiments │ ├── compare_geometric_and_explicit.cpp │ ├── make_roadmaps.cpp │ ├── planning_incrementally.cpp │ └── simplify_grid.cpp ├── planner_benchmark.cpp ├── planners │ ├── ExtendedIncreasingCostTreeSearch.cpp │ ├── PrioritizedSIPP.cpp │ ├── PrioritizedSIPP.hpp │ ├── WrappedContinuousCBS2.cpp │ └── WrappedContinuousCBS2.hpp ├── roadmap_benchmark.cpp ├── roadmap_generation.cpp ├── roadmap_generators │ ├── ConstrainedTriangulation.cpp │ ├── ConstrainedTriangulation.hpp │ ├── Grid.cpp │ └── ProbabilisticRoadmap.cpp └── test │ ├── explicit_collision_test.cpp │ └── geometry_2D_test.cpp ├── third_party └── Continuous-CBS │ ├── .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 │ ├── 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 │ ├── notavectorexception.h │ ├── objectivefunction.cpp │ ├── objectivefunction.h │ ├── pilal.h │ ├── pilalexceptions.h │ ├── simplex.cpp │ ├── simplex.h │ ├── simplexexceptions.h │ ├── sizemismatchexception.h │ ├── variable.cpp │ └── variable.h │ ├── sipp.cpp │ ├── sipp.h │ ├── structs.h │ ├── task.cpp │ ├── task.h │ ├── tinyxml2.cpp │ ├── tinyxml2.h │ ├── xml_logger.cpp │ └── xml_logger.h └── tools ├── plot_annotation_time.py ├── plot_bar.py ├── plot_graph.py ├── plot_graphs_for_incremental.py ├── plot_roadmap.py ├── plot_roadmaps.py ├── plot_runtime.py ├── plot_runtime_2.py ├── plot_soc_ratio.py ├── plot_soc_ratio_2.py ├── plot_success_rate.py ├── plot_success_rate_2.py ├── simulation.py ├── simulation ├── flicker1 │ └── out │ │ ├── plane.jpg │ │ ├── plane.mtl │ │ └── plane.obj ├── plane.urdf └── toio.urdf └── visualize_plan.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/omron-sinicx/PSIPP-CTC/HEAD/.gitignore -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/omron-sinicx/PSIPP-CTC/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/omron-sinicx/PSIPP-CTC/HEAD/Dockerfile 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