Module mapf 

Multi-agent pathfinding starter planner and conflict vocabulary. Collision-aware multi-agent pathfinding model, validator, and starter planner.

MapfProblem combines a static 4-connected grid with time-indexed agent paths; MapfProblem::validate_plan reports structural, vertex, and edge-swap conflicts. MapfStarterPlanner plans agents in fixed order with reservations and returns a solved or partial failed outcome, not an optimality guarantee. Prefer crate::flow_field when agents merely share a goal and do not need collision resolution. The harness owns corpus and conformance evidence for this lane.

Structs

MapfAgent

One MAPF agent with a static start cell and a static goal cell.

MapfAgentPath

Time-indexed path for one agent (positions[t] is the cell at timestep t).

MapfPlan

Time-stepped multi-agent plan indexed by agent paths.

MapfPlanMetrics

Objective metrics derived from a plan (first-arrival based).

MapfProblem

Static-grid MAPF problem: grid, agents, and objective label.

MapfStarterPlanner

Deterministic fixed-order reservation-table starter baseline for MAPF problems.

MapfStarterPlannerResult

Result from the bounded MAPF starter planner.

MapfValidationReport

Complete MAPF plan validation result.

Enums

MapfConflict

Validation issue or conflict found in a MAPF plan.

MapfObjective

Objective label used by the MAPF validation foundation.

MapfStarterPlannerFailure

Explicit bounded-failure reason for the starter planner.

MapfStarterPlannerOutcome

Explicit solved or failed starter-planner outcome.