A path planning algorithm for multiple agents in a 2D world. The idea of the planner is based on the GraphPlan algorithm (for more details on the algorithm, see www.cs.cmu.edu/~avrim/graphplan.html). The planner.
In the current implementation, the path extraction is implemented the simplest possible way by backtracking without caching conflicts discovered during plan extraction. Also, the detection of situations where no solution exists is implemented by limiting the depth of the graph with the number of cells on the map. This is not an effective bound (and I’m not quite sure it really is a bound, but it should work OK for most cases).
The planner reads the problem specification from standard input, writes the plan to standard output and information about the planning process to stderr.
For example input, see the files in test/