MAPF with Precedence Constraints

This repo contains the implementations of CBS-PC and PBS-PC in our MAPF with Precedence Constraints paper. Please refer to the paper for more details about the problem formulation and algorithm details.

To begin with, you can compile the project using the following commands

cmake .
make

, and Cmake will generate three executables in the bin folder. They are:

1. cbs runs the CBS-PC algorithm.
2. pbs runs the PBS-PC algorithm.
3. task_assignment assigns tasks first and then run a MAPF-PC algorithm. This is the one we used in the experiments.

For each executables, you can type --help to see the expected input arguments it. You can find example in run_exp.sh. The input_sample folder contains sample input files.