Multi-Agent Path Finding Algorithms A compilation of three MAPF algorithms: Windowed Hierarchical Cooperative A* (WHCA*) (D.Silver, 2006). improved Windowed Hierarchical Cooperative A* (iWHCA*). Windowed Conflict Based Search (WCBS), new algorithm by Jean Contreras. Explanation: iWHCA* is an improvement to WHCA* in the choice of partial routes. WCBS is a modification of Conflict Based Search algorithm (CBS) (G.Sharon, et al. 2015) based on the dynamic windows of WHCA*. How to use: Go to Algorithms/ and select any of the algortihms. Execute the main.sh shell scrip (use the README file for more information). Requirements: Boost: https://www.boost.org/doc/libs/1_66_0/more/getting_started/unix-variants.html