Cooperative Path-finding (CPF)
This is a promotion video for the cooperative path-finding project.
Watch agents moving on Michael Jackson's "They Don't Care About Us" !
Movements of agents were planned by the BIBOX algorithm developed in 2009 (see Publications section).
It is a complete polynomial-time algorithm for cooperative path-finding over bi-connected graphs.
The video was recorded on 9 cameras in the HD resolution by the Graphrec tool.
Agents move into the unoccupied position only in the prelude. In
the main motif, movements were post-processed by the critical-path method (also similar to Bellman-Ford algorithm) so agents move in parallel
if possible. This mode allows an agent entering a position being simultaneously vacated by another agent which enables to reduce the makespan significantly.
Our Most Relevant Publications to CPF
If you want to refer to our work on cooperative-path plannig please cite some of the following works. Publications are
ordered according to our perception of their importance. The most important works are on the top. See commentary of each