Multi Agent Pathfinding

Multi-agent pathfinding AI in C++ using time-space A*, prioritized planning, and conflict-based search. To run the program:

1. Install python3-numpy python3-matplotlib

2. Time-Space A-Star:
   cd task1
   cmake .
   make
   task1 exp1.txt exp1_paths.txt
   python3 ../visualize.py exp1.txt exp1_paths.txt

3. Prioritized Planning:
   cd task2
   cmake .
   make
   task2 exp2_1.txt exp2_1_paths.txt
   python3 ../visualize.py exp2_1.txt exp2_1_paths.txt

4. Conflict-Based Search:
   cd task3
   cmake .
   make
   task3 exp3_1.txt exp3_1_paths.txt
   python3 ../visualize.py exp3_1.txt exp3_1_paths.txt