# whoenig/libMultiRobotPlanning

Library with search algorithms for task and path planning for multi robot/agent systems

Repository: https://github.com/whoenig/libMultiRobotPlanning
Canonical: https://ross.abutalabs.com/products/libmultirobotplanning
Language: C++
License: MIT
License Family: permissive
Last push: 2023-08-10T05:42:02+00:00

## Health v2 (maintenance only)
Score: 32/100 (v2, computed 2026-09-03T02:20:16.233290+00:00)
- activity 0, release rhythm 35, longevity 100
- inputs: {"age_days": 3222, "days_push": 1119, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1030, forks 238 (observed 2026-08-28T04:03:17.864385+00:00)

## What it is
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
- artifact type: library
- maturity: stable
- function: simulation, math, robotics
- domain: robotics, simulation
- platform: cpp, cross-platform
- tags: multi-robot-planning, path-planning, task-assignment, mapf, conflict-based-search, a-star, sipp, c++14, templated-library, algorithms, linux

## Member repositories
- whoenig/libMultiRobotPlanning (main) score 32

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:03:17.864385+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T07:07:36.359774+00:00, confidence not recorded.
  - readme: https://github.com/whoenig/libMultiRobotPlanning (fetched 2026-08-28T04:03:17.864385+00:00, sha 967ed372cfc4)
- Data as of 2026-08-30T08:39:29.467469+00:00.