LTL Optimal Multi-Agent Planner (LOMAP)

LTL Optimal Multi-Agent Planner (LOMAP) is a python package for automatic planning of optimal paths for multi-agent systems. See the directory 'examples' (either in the source archive or in the installation directory) for examples.

Installation Instructions

Linux (Ubuntu)

Clone the lomap repository

Navigate to desired location
Run the following line in shell:

git clone https://github.com/wasserfeder/lomap.git

Install Spot using Debian Packages (https://spot.lrde.epita.fr/install.html)

Run the following lines in shell:

wget -q -O - https://www.lrde.epita.fr/repo/debian.gpg | apt-key add -
echo 'deb http://www.lrde.epita.fr/repo/debian/ stable/' >> /etc/apt/sources.list
apt-get update
apt-get install spot libspot-dev spot-doc python3-spot # Or a subset of those

Install necessary dependencies:

Run the following lines in shell:

apt install python-pip
pip2 install matplotlib
pip2 install numpy
apt-get install python-tk
pip2 install networkx==1.11
pip2 install pyyaml
pip2 install pp
apt install cmake

Note: Ensure that Python 2.7 is installed.

Download and unpack ltl2dstar

Download from: https://www.ltl2dstar.de/
Unpack ltl2dstar
Navigate to the ltl2dstar folder

Run the following lines in shell:

mkdir build
cd build/
cmake -DCMAKE_BUILD_TYPE=Release ../src
make

Optionally add the binary to folder in PATH

For example:

mkdir ~/bin
cp ltl2dstar ~/bin/
echo 'export PATH="$PATH:$HOME/bin"' >> ~/.bashrc

Set $PYTHONPATH to include the location of the lomap library:

Run the following line in shell:

export PYTHONPATH="${PYTHONPATH}:/path/to/lomap"

Optionally make this setting persistent:

echo 'export PYTHONPATH="${PYTHONPATH}:/path/to/lomap"' >> ~/.bashrc

Test if the setup worked properly:

Navigate to /lomap/lomap/tests
Run any of the Python test files
- Ex. python test_automata.py

Common Issues:

   ImportError: No module named lomap.classes

Problem: The lomap library is not in the path variable
Possible Solution: Manually add lomap to your Python directory

   File "/usr/bin/pip", line 9, in <module>
   from pip import main
   ImportError: cannot import name main

Problem: Wrong version of pip (are using Python 3 pip)
Solution: Run commands with pip2

AttributeError: 'Graph' object has no attribute 'nodes_iter' (or other graph issues)

Problem: Wrong version of networkx installed
Solution: Uninstall networkx and install networkx1.11 (see above)

Todo List:

Port to networkx 2.x
Add support for Python 3.x
Remove old Ts/Markov file format system, use yaml
Revise developer instructions, add more tests
Create more testing examples with instructions (docs)
Improve visualization
Add support for DFSCAs
Implement dfsa and dfsca minimization
Integrate logic minimization
Add Buchi/Rabin games
Sync with twtl, reactive-ltl, lvrmod, pvrp, gdtl-firm
Integrate GDTL and predicate system
Add more examples
Add RH/MPC framework
General clean-up of code
Test for functions and continuous integration system
BDDs for guards

Copyright and Warranty Information

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

A copy of the GNU General Public License is included in this distribution, in a file called 'license.txt'.

bittdy / lomap

LTL Optimal Multi-Agent Planner (LOMAP)

Installation Instructions

Common Issues:

Todo List:

Copyright and Warranty Information

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