multi-agent-path-finding 开源项目推荐（89 个）

atb033 /multi_agent_path_planning

一组多机器人路径规划算法的 Python 实现。

GavinPHR /Multi-Agent-Path-Finding

使用基于冲突的搜索和时空 A* 的匿名多智能体路径规划（MAPF）

Kei18 /mapf-IR

Iterative Refinement for Real-Time Multi-Robot Path Planning (IROS-21)

Kei18 /lacam3

Engineering LaCAM*: Towards Real-Time, Large-Scale, and Near-Optimal Multi-Agent Pathfinding (AAMAS-24)

gloriyo /MAPF-ICBS

基于冲突搜索的多智能体路径规划

Kei18 /mapf-visualizer

simple multi-agent pathfinding (MAPF) visualizer for research usage

ed-lam /bcp-mapf

BCP-MAPF – branch-and-cut-and-price for multi-agent path finding

enginbaglayici /ConflictBasedSearch

Conflict-based search for multi-agent path finding (MAPF)

Kei18 /lacam

LaCAM: Search-Based Algorithm for Quick Multi-Agent Pathfinding (AAAI-23)

Lodz97 /Multi-Agent_Pickup_and_Delivery

Implementations of various algorithms used to solve the problem of Multi-Agent Pickup and Delivery (a generalization of Multi-Agent Path Finding).

nicofretti /MAPF

多智能体路径规划问题的一种解决方案

Jiaoyang-Li /Flatland

Solution of NeurIPS 2020 Flatland Challenge from the team An_old_driver.

Kei18 /pypibt

Minimal Python implementation of PIBT for MAPF

proroklab /agile-mapf

Concrete Multi-Agent Path Planning Enabling Kinodynamically Aggressive Maneuvers (npj Robotics 2026)

yge58 /collaborative_a_star_pathfinding

Based on David Silver's paper "Cooperative Pathfinding"

Kei18 /pylacam

Minimal Python implementation of LaCAM* for MAPF

proroklab /lagat

Graph Attention-Guided Search for Dense Multi-Agent Pathfinding (AAAI-26)

Kei18 /lacam2

Improving LaCAM for Scalable Eventually Optimal Multi-Agent Pathfinding (IJCAI-23)

MurpheyLab /brne

(IJRR) Mixed Strategy Nash Equilibrium for Crowd Navigation

J-morag /MAPF

A system for running Multi-Agent Path Finding (MAPF) experiments, with multiple implemented algorithms.