RTM Rubik Table MRPP algorithms for 100% robot density Run python3 prubik.py --f input.yaml --o output.txt Visualization python3 visualize.py map_file.map path_file.txt Demos Reference Guo, T., & Yu, J. (2022). Sub-1.5 Time-Optimal Multi-Robot Path Planning on Grids in Polynomial Time. arXiv preprint arXiv:2201.08976. Szegedy, M., & Yu, J. (2022). Rubik Tables and object rearrangement. The International Journal of Robotics Research, 02783649211059844.