Hetero-MAPF

Overview

Solve MAPF problem when the agents are heterogeneous.

Source Code

Requirement

sudo apt-get install g++ cmake libboost-program-options-dev libyaml-cpp-dev \
clang-tidy clang-format python3-matplotlib libompl-dev libeigen3-dev

Note: Please make sure your matplotlib version is above 2.0, otherwise it may show weird image while visualization. You can upgrade it by pip3 install -U matplotlib.

Build

mkdir build 
cd build
cmake -DCMAKE_BUILD_TYPE=Release  ..
make -j8

• make: Build Hetero-MAPF code
• make clang-format: Re-format all source files
• make all: Build all three targets above

Todo: Prepare for doxygen.

Run example instances

# make sure your are in build folder
# default 5 agent in a batch
./planner -i ../maps/random.yaml -o output.yaml 
# or compute 10 agents in a whole batch
./planner -i ../maps/random.yaml -o output.yaml -b 10

The maps folder also contains a warehouse map for test.

Visualize Results

# make sure your are in build folder
python3 ../src/visualize.py -m ../maps/random.yaml -s output.yaml 

Agent Configuration

The agent configurations, including the size, the kinematic constraints, and penalty functions can be changed in src/config.yaml.

License

The code is provided under the MIT License.