Simulator of Iterative Multi-agent Path Finding

Let multiple agents move smoothly. swa_ecbs_2 is assigning weight in the range [(1+w)/2, w] swa_ecbs_3 is ensuring that the average conflicted agent is assigned (1+w)/2 weight See the project page.

Demo

Multi-agent Path Finding

Multi-agent Pickup and Delivery (sushi-mode)

Requirement

The visualization relies on openFrameworks. You need to install openFrameworks beforehand and export OF_ROOT of your environment.

export OF_ROOT={your openFrameworks directory}

The latest implementation relies on boost.

Usage

At first, you must prepare param file. To confirm details, see a sample file. Then you can execute the simulator as following.

• implementation with openFrameworks

make of
make ofrun param=sample-param.txt

• without visualization (for experiment)

mkdir log
mkdir swa_ecbs_log
mkdir swa_ecbs_2_log
mkdir swa_ecbs_3_log
mkdir dwa_ecbs_log
mkdir dwa_ecbs_2_log
mkdir dwa_ecbs_3_log
make c
make crun param=sample-param.txt

Licence

This software is released under the MIT License, see LICENSE.txt.

Others

• Maps: https://www.movingai.com/benchmarks/grids.html
• Images: https://www.irasutoya.com
• Scenario: https://www.movingai.com/benchmarks/mapf/index.html

Author

Keisuke Okumura