Anonymous Multi-Agent Path Finding (MAPF) with Conflict-Based Search and Space-Time A*

PRIMAL: Pathfinding via Reinforcement and Imitation Multi-Agent Learning -- Distributed RL/IL code for Multi-Agent Path Finding (MAPF)

An Efficient Multi-Agent Path Finding Solver for Car-Like Robots

This is a multi-agent path planning(also known as Multi-Agent Path Finding, MAPF) algorithm package for ROS/ROS2.

An efficient solver for lifelong Multi-Agent Path Finding

多AGV路径规划演示模型（CBS算法）

Robotic Order Fulfillment System Using Kiva-like mobile robots. Conflict-based Search multi-robot path planning.

A bounded-suboptimal solver for Multi-Agent Path Finding

Algorithm for prioritized multi-agent path finding (MAPF) in grid-worlds. Moves into arbitrary directions are allowed (each agent is allowed to follow any-angle path on the grid). Timeline is continuous, i.e. action durations are not explicitly discretized into timesteps. Different agents' size and moving speed are supported. Planning is carried out in (x, y, \theta) configuration space, i.e. agents' orientation are taken into account.

Conflict-based search for multi-agent path finding

MAPF-LNS2: Fast Repairing for Multi-Agent Path Finding via Large Neighborhood Search

Priority Inheritance with Backtracking for Iterative Multi-agent Path Finding (AIJ-22)

Multi Agent Path Finding Algorithms

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

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

Distributed Heuristic Multi-Agent Path Finding with Communication - ICRA 2021

Multi-agent (path finding) planning framework

Improved Heuristics for Multi-Agent Path Finding with Conflict-Based Search

Anytime Multi-Agent Path Finding via Large-Neighborhood Search

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

A solution of Multi-Agent Path Finding problem

This is code repo for the paper, Depolying Ten Thousand Robots: Scalable Imitation Learninig for Lifelong Mulit-Agent Path Finding, which won the ICRA 2025 best paper on multi-robot systems and the best student paper.

An algorithm for exploiting Reinforcement Learning (RL) on Multi-agent Path Finding tasks.

Multi-Agent Path Finding in C++ (WHCA*, iWHCA*, WCBS)

Pytorch implementations of the multi-agent reinforcement learning algorithms, including QMIX, VDN, COMA, MADDPG, MATD3, FACMAC and MASoftQ for path planning of swarm of mobile robots.

A Multi-Agent Path Finding visualization website.

SMART is an efficient soft-tool that bridge the gap between Multi-Agent Path Finding (MAPF) and real-world application. More details can be found in our paper: Advancing MAPF towards the Real World: A Scalable Multi-Agent Realistic Testbed (SMART) [1].

Priority Inheritance with Backtracking for Iterative Multi-agent Path Finding (IJCAI-19)

Reinforcement Learning for Multi-Agent Path Finding

Code for implementing/applying ODM*, PPO, MAAC, IC3Net and PRIMAL (PPO version) on a Multi-Agent gridworld environment.