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C++

MAMS-A*

Multi-Resolution Multi-Agent A* Algorithm (ICRA 2020) for shortest path planning in multi-scale graphs.

MAMS-A*
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Multi-Resolution Multi-Agent A* (MAMS-A*)

MAMS-A* is a scalable shortest path planning algorithm designed for multi-agent systems operating in multi-scale environments. Presented at ICRA 2020, this algorithm leverages wavelet-based cell decompositions to efficiently plan paths for large teams of agents.

Key Features

  • Multi-Resolution Graph: Constructs graphs with varying resolution based on agent proximity and environment complexity.
  • Scalability: Efficiently handles large numbers of agents by reducing the search space in non-critical areas.
  • ROS Integration: Built as a ROS package for easy deployment on robot teams.
  • Wavelet Decomposition: Uses wavelet transforms to generate multi-scale representations of the cost map.

Applications

  • Multi-robot path planning in large environments
  • Search and rescue missions with heterogeneous teams
  • Large-scale swarm coordination

Technical Details

  • Language: C++
  • Dependencies: ROS (Robot Operating System), OpenCV
  • Algorithm: A* search on multi-resolution graphs

Visit the GitHub repository for source code and installation instructions.

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