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146 symbols 359 edges 23 files 7 documented · 5%

What it actually does AI analysis from the code graph — generated when you open this

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Core symbols most depended-on inside this repo

get_state

called by 6

centralized/cbs/cbs.py

state_valid

called by 5

centralized/cbs/cbs.py

create_robot

called by 4

decentralized/utils/create_obstacles.py

return_safety_vertex

called by 4

centralized/scheduling/tpg.py

is_valid_position

called by 4

centralized/sipp/graph_generation.py

is_equal_except_time

called by 4

centralized/cbs/cbs.py

transition_valid

called by 4

centralized/cbs/cbs.py

update_state

called by 3

decentralized/nmpc/nmpc.py

Shape

Method 93

Function 31

Class 22

Languages

Python100%

Modules by API surface

centralized/cbs/cbs.py51 symbols

centralized/scheduling/tpg.py16 symbols

centralized/sipp/graph_generation.py12 symbols

decentralized/nmpc/nmpc.py10 symbols

centralized/scheduling/minimize.py9 symbols

centralized/scheduling/stn.py8 symbols

decentralized/velocity_obstacle/velocity_obstacle.py7 symbols

centralized/visualize.py7 symbols

centralized/sipp/visualize_sipp.py7 symbols

centralized/sipp/sipp.py7 symbols

decentralized/utils/multi_robot_plot.py4 symbols

centralized/cbs/a_star.py4 symbols

For agents

$ claude mcp add multi_agent_path_planning \
  -- python -m otcore.mcp_server <graph>

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