whoenig/libMultiRobotPlanning

Health v2 · maintenance only

Flags: no_releases

Adoption not part of the score

1030 stars · 238 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

A C++14 header-style library providing highly templated search algorithms for multi-robot/agent task and path planning. It implements single-agent planners (A*, focal search, SIPP), multi-agent planners (CBS, ECBS, CBS-TA, ECBS-TA), and assignment algorithms, with examples and benchmarks.

Use cases

• plan collision-free paths for multiple robots or agents
• compute optimal task assignments across a fleet of agents
• run conflict-based search (CBS/ECBS) for multi-agent pathfinding
• plan paths with safe intervals using SIPP
• solve minimum sum-of-cost assignment problems
• prototype and benchmark multi-robot planning algorithms in C++

When to choose

• you need proven MAPF algorithms like CBS, ECBS, or CBS-TA in C++
• you want high-performance, templated planning code you can embed in a robot stack
• you need both path planning and task assignment in one library
• you want example code and benchmarks to compare planning algorithms

When to avoid

• you need a ready-to-run robotics middleware or full motion planner rather than search algorithms
• your project is not in C++ or cannot interoperate with C++14 code
• you need dynamic replanning under real-world sensor uncertainty out of the box
• you want a maintained GUI or visualization tool (only simple Python visualizers are provided)

Facets

library · maturity stable

simulation math robotics robotics simulation cpp cross-platform multi-robot-planning path-planning task-assignment mapf conflict-based-search a-star sipp c++14 templated-library algorithms linux

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