Optimized Directed Roadmap Graph (ODRM)

该数据集提供了一个优化多智能体导航以避免在环境中发生碰撞的定向路线图。它不仅包含了使用numpy和网络x库的Python实现，还提供了一个适用于真实机器人的ROS软件包。该数据集已经过测试，可支持高达200个顶点的图以及多个智能体的操作。其任务是处理多智能体路径查找（MAPF）问题。This dataset provides an oriented roadmap optimized for multi-agent navigation to avoid collisions in the environment. It not only includes a Python implementation using the NumPy and NetworkX libraries, but also offers a ROS software package suitable for real robots. This dataset has been tested and supports graphs with up to 200 vertices and multi-agent operations. Its core task is to address the Multi-Agent Path Finding (MAPF) problem.