\n ```markdown ## System Overview: Multi-Agent Path Finding (MAPF) Visualization This document details the visualization of a Multi-Agent Path Finding (MAPF) system. The visualization displays agents navigating a grid-based environment, avoiding collisions and reaching their designated goals. ### 1. Environment Representation * **Grid:** The environment is represented as a 2D grid. Each cell in the grid can be either: * **Free Space:** Represents navigable areas. * **Obstacle:** Represents blocked areas that agents cannot traverse. * **Dimensions:** The grid dimensions are configurable (e.g., 20x20, 50x50). * **Visualization:** Free space is typically displayed as white or a light color, while obstacles are displayed as black or a dark color. ### 2. Agent Representation * **Shape:** Agents are visually represented as colored circles or squares. * **Color Coding:** Each agent is assigned a unique color for easy identification. * **Goal Markers:** Each agent's goal location is marked with a distinct symbol (e.g., a star, a cross) of a contrasting color. * **Path Visualization:** The planned path for each agent is displayed as a series of connected lines or a highlighted trail. ### 3. Algorithm Visualization The visualization supports the display of different MAPF algorithms: | Algorithm | Description