Pathfinding using Polyanya

Pathfinding on NavMeshes for Bevy

Algorithm for prioritized multi-agent path finding (MAPF) in grid-worlds. Moves into arbitrary directions are allowed (each agent is allowed to follow any-angle path on the grid). Timeline is continuous, i.e. action durations are not explicitly discretized into timesteps. Different agents' size and moving speed are supported. Planning is carried out in (x, y, \theta) configuration space, i.e. agents' orientation are taken into account.

This repository is a modular implementation of any-angle pathfinding in C#.

Highly efficient holistic 2D visibility solution for grid-based environments/maps (C++ and MATLAB). Extends to a planner.

VBM is an efficient exact wave propagation technique that has an O(n) compute and space complexity. Inherently produces globally optimal paths to all grid points. Solves several shortcomings of state-of-the-art FMM.

2D any-angle path planners, and R2: novel vector-based any-angle path planner.