Module hierarchical_mapf 

Hierarchical MAPF replanning foundation.

This module adds a region-level trigger layer above STL-CBS. It first plans independent shortest paths, finds coarse region conflicts, then replans only the affected agent groups with CBS.

Structs

HierarchicalMapfAgent2D

Agent query for hierarchical MAPF.

HierarchicalMapfConfig2D

Planner configuration.

HierarchicalMapfPlan2D

Hierarchical MAPF plan summary.

HierarchicalMapfPlanner2D

Region-triggered MAPF replanner.

HierarchicalMapfRegion2D

Coarse region id for hierarchical grouping.

HierarchicalMapfRegionConflict2D

A coarse conflict used to trigger local replanning.

HierarchicalMapfRegionRoute2D

Compressed route through coarse regions for one agent.

HierarchicalMapfReplannedGroup2D

One group that was replanned with CBS.

Functions

cell_conflict_count