Let multiple agents move smoothly. See the project page.
IMPORTANT NOTES
- In v1.0-v1.2, the PPS implementation includes bugs. Use the latest (≥v1.3). You can check the PPS results here. The results are not so different from the PIBT paper.
- A new version (pibt2), substantially updated for a journal paper, is out. I strongly recommend using the new one instead of this repo.
Multi-agent Path Finding
Multi-agent Pickup and Delivery (sushi-mode)
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.
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)
make c
make crun param=sample-param.txt
This software is released under the MIT License, see LICENSE.txt.
- Maps: https://www.movingai.com/benchmarks/grids.html
- Images: https://www.irasutoya.com
- Font: https://fonts.google.com/
- Scenario: https://www.movingai.com/benchmarks/mapf/index.html
Keisuke Okumura is currently a Ph.D. candidate at Tokyo Institute of Technology, working on multiple moving agents.