I'm in progress of implementing multi agent A* algorithm on tile-based map where agent move only in X and Y axis. I do avoid collisions between them by checking where are others when calculating paths.

It works fine except the situation when agents have to pass the same tile from different directions. In situations like shown on image one agent should wait for another to pass, otherwise it would not be the best solution.

Also, if there's no northern corridor, then pathfinding fails.

Any ideas how to implement such an algorithm?

I'm implementing a multi agent A* algorithm on a tile map. Agents move only in the X and Y axes. I avoid collisions between them by checking where the others are when calculating paths.

It works fine except the situation where agents have to pass the same tile from different directions. In situations like this, an optimal solution would be for one agent to wait for the other to pass:

Also, if there's no northern corridor, then pathfinding fails.

How could I implement such an algorithm?

I'm in progress of implementing multi agent A* algorithm on tile-based map where agent move only in X and Y axis. I do avoid collisions between them by checking where are others when calculating paths.

It works fine except the situation when agents have to pass the same tile from different directions. In situations like shown on image one agent should wait for another to pass, otherwise it would not be the best solution.

Also, if there's no northern corridor, then pathfinding fails.

Any ideas how to implement such algorithm?

I'm in progress of implementing multi agent A* algorithm on tile-based map where agent move only in X and Y axis. I do avoid collisions between them by checking where are others when calculating paths.

It works fine except the situation when agents have to pass the same tile from different directions. In situations like shown on image one agent should wait for another to pass, otherwise it would not be the best solution.

Also, if there's no northern corridor, then pathfinding fails.

Any ideas how to implement such an algorithm?

I'm in progress of implementing multi agent A* algorithm on tile-based map where agent move only in X and Y axis. I do avoid collisions between them by checking where are others when calculating paths.

It works fine except the situation when agents have to pass the same tile from different directions. In situations like shown on image one agent should wait for another to pass, otherwise it would not be the best solutions.

Also, if there's no northern corridor, then pathfinding fails.

Any ideas how to implement such algorithm?

I'm in progress of implementing multi agent A* algorithm on tile-based map where agent move only in X and Y axis. I do avoid collisions between them by checking where are others when calculating paths.

It works fine except the situation when agents have to pass the same tile from different directions. In situations like shown on image one agent should wait for another to pass, otherwise it would not be the best solution.

Also, if there's no northern corridor, then pathfinding fails.

Any ideas how to implement such algorithm?