RCT real time multi-agent path finding and collision avoidance algorithm.

Two teams of 5 robots playing in RoboCup MSL league are simulated, each player has to move to a different place every 4 seconds. Path finding including collision avoidance is done using multi-resolution heatmaps. These ones are displayed in the lower part of the screen. Team moves of both teams are presented in the team display at the top with the final destinations (dashed arrows), the waypoints (white arows) and the speed (red arrow).