Collaborative astar #1247
Open
Collaborative astar #1247
+566
−288
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
![github-advanced-security[bot]](https://avatars.githubusercontent.com/in/57789?s=60&v=4){kind=small}
SchwartzCode
commented
Jul 10, 2025
docs/modules/5_path_planning/time_based_grid_search/time_based_grid_search_main.rst
Outdated
Show resolved
Hide resolved
There was a problem hiding this comment.
Pull Request Overview
This PR refactors single-agent planners into a common interface, adds a new multi-agent priority-based planner, and modularizes plotting and testing.
- Refactored
SpaceTimeAStarandSafeIntervalPathPlannerintoSingleAgentPlannersubclasses with staticplanmethods - Introduced
PriorityBasedPlannerfor multi-agent path planning with priority ordering - Extracted plotting logic into
Plotting.pyand updated tests and documentation accordingly
Reviewed Changes
Copilot reviewed 11 out of 11 changed files in this pull request and generated 5 comments.
Show a summary per file
| File | Description |
|---|---|
| tests/test_space_time_astar.py | Updated to call static SpaceTimeAStar.plan and adjusted assertions |
| tests/test_safe_interval_path_planner.py | Updated to call static SafeIntervalPathPlanner.plan |
| tests/test_priority_based_planner.py | Added tests for PriorityBasedPlanner |
| docs/.../time_based_grid_search_main.rst | Documented priority-based planning and added paper reference |
| PathPlanning/TimeBasedPathPlanning/SpaceTimeAStar.py | Refactored into SingleAgentPlanner, static plan, improved API |
| PathPlanning/TimeBasedPathPlanning/SafeInterval.py | Refactored into SingleAgentPlanner, static plan, improved API |
| PathPlanning/TimeBasedPathPlanning/PriorityBasedPlanner.py | New multi-agent PriorityBasedPlanner implementation |
| PathPlanning/TimeBasedPathPlanning/Plotting.py | New plotting utilities for single- and multi-agent paths |
| PathPlanning/TimeBasedPathPlanning/Node.py | Introduced shared Node and NodePath dataclasses |
| PathPlanning/TimeBasedPathPlanning/GridWithDynamicObstacles.py | Added NARROW_CORRIDOR arrangement and reservation APIs |
| PathPlanning/TimeBasedPathPlanning/BaseClasses.py | Added SingleAgentPlanner and MultiAgentPlanner base classes |
Comments suppressed due to low confidence (2)
tests/test_space_time_astar.py:23
- The comment indicates 28 entries but the assertion checks for 31. Update the comment to match the expected path length or adjust the expected value if it changed intentionally.
# path should have 28 entries
PathPlanning/TimeBasedPathPlanning/GridWithDynamicObstacles.py:23
- No tests cover the new
NARROW_CORRIDORarrangement. Consider adding unit tests to validate its behavior.
NARROW_CORRIDOR = 2
| Returns the re-ordered StartAndGoal combinations, and a list of path plans. The order of the plans | ||
| corresponds to the order of the `start_and_goals` list. | ||
| """ | ||
| print(f"Using planner: {single_agent_planner_class}") |
There was a problem hiding this comment.
[nitpick] Consider logging single_agent_planner_class.__name__ instead of the full class object for cleaner output.
Suggested change
| print(f"Using planner: {single_agent_planner_class}") | |
| print(f"Using planner: {single_agent_planner_class.__name__}") |
Copilot uses AI. Check for mistakes.
There was a problem hiding this comment.
Nevermind - mypy didn't like this:
https://github.com/AtsushiSakai/PythonRobotics/actions/runs/16242140076/job/45860004917?pr=1247
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Reference issue
What does this implement/fix?
This PR implements a simple priority based planner. It plans paths for multiple agents in an environment with dynamic obstacles. It plans in descending order of distance from start position to goal. Once a path is planned for an agent, all future plans will avoid that path.
The algorithm outlined in section III of this paper: https://pure.tudelft.nl/ws/portalfiles/portal/67074672/07138650.pdf
Additional information
PR to gifs repo: AtsushiSakai/PythonRoboticsGifs#8
CheckList