multi_agent_path_planning icon indicating copy to clipboard operation
multi_agent_path_planning copied to clipboard
verified publisher icon atb033

SIPP does not behave as intendet

Open Unknown-Student opened this issue 1 year ago • 0 comments

Hello,

I tested the repository and did a number of experiments with the SIPP and CBS algorithms. I noticed that in many situations the SIPP algorithm produces a collision even if there would be enough space to avoid said collsion. The agents would also wait one time step before the collision as if the agent knows about the collision but then decides to no avoid it. I'll include a few examples. I explicitly tried to replicate the environment from the SIPP paper you referenced to show the difference.

How SIPP behaves: sipp_two_corridors sipp_paper_test_1 sipp_paper_test_2 sipp_two_corridors_space

Expected behaviour: sipp_paper_test_5

Unknown-Student avatar Jan 14 '25 09:01 Unknown-Student