MAPF-HET Research

Multi-Agent Path Finding with Heterogeneous Agents - algorithm research for coordinated robot battery swap operations.

Structure

mapf-het-research/
├── cmd/mapfhet/     # CLI entry point
├── internal/
│   ├── core/        # Domain models (workspace, robots, tasks)
│   ├── algo/        # Algorithm implementations
│   └── sim/         # Discrete-event simulation
└── testdata/        # Benchmark scenarios

Quick Start

go test ./...
go run ./cmd/mapfhet

Algorithms

Algorithm	Status	File
CBS-HET	stub	algo/cbs.go
Prioritized	stub	algo/prioritized.go
ECBS-HET	planned	-

References

See docs/ for problem formulation and integration details.