Expand description
STL-CBS foundation for multi-agent grid planning.
This module combines a compact conflict-based search (CBS) planner with Signal Temporal Logic style robustness primitives over timed grid paths.
Structs§
- StlCbs
Agent - Agent start/goal query for STL-CBS.
- StlCbs
Config - Configuration for the grid CBS planner.
- StlCbs
Conflict - A high-level CBS conflict.
- StlCbs
Path - One agent’s planned timed path.
- StlCbs
Plan - CBS result with robustness summary.
- StlCbs
Planner - Conflict-based multi-agent grid planner.
- StlRectangle2D
- Axis-aligned rectangle used by STL predicates.
- StlTime
Interval - Closed integer time interval for STL temporal operators.
- StlTimed
Cell - Timed grid cell used by STL-CBS paths.
Enums§
Functions§
- first_
conflict - stl_
always_ avoid_ robustness - Robustness of
G_[interval] outside(region)for one path. - stl_
eventually_ reach_ robustness - Robustness of
F_[interval] inside(region)for one path. - stl_
pairwise_ separation_ robustness - Robustness of pairwise Euclidean separation over all paths.