# atb033/multi_agent_path_planning

Python implementation of a bunch of multi-robot path-planning algorithms.

Repository: https://github.com/atb033/multi_agent_path_planning
Canonical: https://ross.abutalabs.com/products/multi_agent_path_planning
Homepage: https://atb033.github.io/multi_agent_path_planning/
Language: Python
License: MIT
License Family: permissive
Topics: velocity-obstacles, multi-agent-path-finding, multi-agent-systems, path-planning, multi-robot
Last push: 2023-04-05T15:02:42+00:00

## Health v2 (maintenance only)
Score: 23/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 0, release rhythm 8, longevity 100
- inputs: {"age_days": 2681, "days_push": 1246, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: none
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1465, forks 307 (observed 2026-08-28T04:04:48.332538+00:00)

## What it is
A Python collection of multi-agent/multi-robot path-planning algorithm implementations, including centralized planners (Prioritized Safe-Interval Path Planning, Conflict Based Search) and decentralized ones (velocity obstacles, nonlinear MPC). It includes visualization tooling for generated plans.

## Use cases
- plan collision-free paths for multiple robots
- run conflict-based search for multi-agent path finding
- simulate decentralized robot navigation with velocity obstacles
- compare centralized vs decentralized multi-agent planners
- visualize multi-robot trajectories from YAML inputs
- learn multi-agent path finding algorithms

## When to choose
- you need reference implementations of MAPF algorithms like SIPP or CBS in Python
- you are researching or prototyping multi-robot coordination
- you want both centralized and decentralized planning approaches in one repo

## When to avoid
- you need production-grade, real-time robot control on hardware
- you need a ROS-integrated planner out of the box
- you need 3D or continuous high-dimensional planning

## Facets
- artifact type: library
- maturity: active
- function: simulation, robotics
- domain: robotics, simulation
- platform: python, cross-platform
- tags: multi-agent-path-finding, path-planning, velocity-obstacles, conflict-based-search, safe-interval-path-planning, multi-robot, decentralized-planning, model-predictive-control, algorithm, algorithms

## Member repositories
- atb033/multi_agent_path_planning (main) score 23

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:04:48.332538+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 2026-08-30T04:35:05.094691+00:00, confidence not recorded.
  - readme: https://github.com/atb033/multi_agent_path_planning (fetched 2026-08-28T04:04:48.332538+00:00, sha 79831fcc8149)
  - homepage: https://atb033.github.io/multi_agent_path_planning/ (fetched 2026-08-29T11:43:18.284905+00:00, sha a9867f644342)
- Data as of 2026-08-30T08:39:29.467469+00:00.