Multi-Agent path finding with SAT and GODOT4

This project demonstrates the use of SAT solvers to schedule path finding in multi agent systems. The implementation is based on Efficient SAT Approach to Multi-Agent Path Finding under the Sum of Costs Objective

UI

The demonstrator provides a playground for simulating different cell based agent paths.

Features

• UI for adding and managing agents
• Store agent setups in presets to load them later
• Selection of maps including DAO-maps mentioned in the paper

Build (linux)

git submodule update --init

Building glucose

cd glucose
mkdir build
cd build
cmake .. -DCMAKE_POSITION_INDEPENDENT_CODE=ON
cmake --build .

Building MAPF plugin (gdext)

cd ..
godot --dump-extension-api
cd godot-cpp
scons platform=linux custom_api_file=../extension_api.json
cd ..
scons platform=linux