Multi-agent Path Finding for Cooperative Autonomous Driving

This is the code for the paper Multi-agent Path Finding for Cooperative Autonomous Driving published at ICRA 2024.

@inproceedings{yan2024multi,
title={Multi-agent Path Finding for Cooperative Autonomous Driving},
author={Zhongxia Yan and Han Zheng and Cathy Wu},
booktitle={International Conference of Robotics and Automation (ICRA)},
year={2024},
}

Setup

Apologies for the sparse instructions. Clone this repo and add it to the PYTHONPATH. Install packages as needed.

Run

Again sorry for the sparse instructions.

The main script is bicycle_model.py, and it can be parameterized to run with different search methods and intersection settings.

For FIFO: run the script as is.

For OBS: use method='obs' and set obs_order_threshold parameter to control number of OBS orders searched.

For PP: use method='pp' and set num_random_orders to control number of PP orders.

For MCTS: use method='mcts' and set num_mcts_simulations to control number of MCTS simulations.