Kei18/mappcf

mappcf

The code repository of the paper "Fault-Tolerant Offline Multi-Agent Path Planning" (MAPPCF; AAAI-23). The entire code is written in Julia 1.7.

Demo

Setup

julia --project=. -e 'using Pkg; Pkg.instantiate()'

It may require around 5min.

Minimum Example

A toy example is available on Jupyter Lab.

julia --project=. -e "using IJulia; jupyterlab()"

See notebooks/toy-example.ipynb. You will eventually get the following:

(first) Solution example. Each agent has a backup path as necessary.
(second) Execution demo. A red agent is crashed in the middle (turning to a diagonal shape, gray-filled). The left-blue agent changes its executing path.

Reproduction

Benchmark Generation

julia --project=. --threads=auto
> include("scripts/benchmark_gen.jl")
> create_benchmarks()

The used instances are included in assets/benchmark.zip. Please unzip them to ../data/benchmark/.

Experiments

random-32-32-10

julia --project=. --threads=auto
> include("scripts/eval.jl")

# sync
> main("scripts/config/exp/exp1_sync_fix_crash.yaml")
> main("scripts/config/exp/exp1_sync_fix_agent.yaml")

# seq
> main("scripts/config/exp/exp1_seq_fix_crash.yaml")
> main("scripts/config/exp/exp1_seq_fix_agent.yaml")

random-64-64-10

julia --project=. --threads=auto
> include("scripts/eval.jl")

# sync
> main("scripts/config/exp/exp2_sync_fix_crash.yaml")
> main("scripts/config/exp/exp2_sync_fix_agent.yaml")

# seq
> main("scripts/config/exp/exp2_seq_fix_crash.yaml")
> main("scripts/config/exp/exp2_seq_fix_agent.yaml")

appendix; Paris_1_256

julia --project=. --threads=auto

> include("scripts/eval.jl")

# sync
> main("scripts/config/exp/exp3_sync_fix_crash.yaml")

# seq
> main("scripts/config/exp/exp3_seq_fix_crash.yaml")

appendix; warehouse-20-40-10-2-2

julia --project=. --threads=auto

> include("scripts/eval.jl")

# sync
> main("scripts/config/exp/exp4_sync_fix_crash.yaml")

# seq
> main("scripts/config/exp/exp4_seq_fix_crash.yaml")

appendix; refinement

julia --project=. --threads=auto

> include("scripts/eval.jl")

# sync, random-32-32-10
> main("scripts/config/exp/exp5_sync_fix_crash.yaml")

# seq, random-32-32-10
> main("scripts/config/exp/exp5_seq_fix_crash.yaml")

# sync, random-64-64-10
> main("scripts/config/exp/exp6_sync_fix_crash.yaml")

# seq, random-64-64-10
> main("scripts/config/exp/exp6_seq_fix_crash.yaml")

The experimental results were obtained in:

Notes

The project name comes from MAPP with Failure Detectors (MAPPFD).
The grid maps in assets/map are from MAPF benchmarks.
tests/ is not comprehensive. It was used in early developments.
Auto formatting (juliaformatter.jl) when committing:

git config core.hooksPath .githooks && chmod a+x .githooks/pre-commit

Licence

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

Author

Keisuke Okumura is a Ph.D. student at the Tokyo Institute of Technology, interested in controlling multiple moving agents.

Kei18 / mappcf