Abstract MDP for Taxi Problem
Implemented the paper from ICAPS 2017: Planning with Abstract Markov Decision Processes
The original single taxi problem is with the master branch. To build the project, do
catkin b -vi
in your catkin workspace.
The project includes three nodes: canvas, taxi, passenger. Don't forget to run roscore before you run any node.
Canvas
To display the map in ros:
rosrun taxi_amdp canvas.py
Passenger
To add a passenger to the map:
rosrun taxi_amdp passenger.py
Note that passenger node listens to the ros service /pas_serv. You need to call the service when you need to change the passenger's state, e.g. get on the taxi.
Taxi
To run the taxi and the core planning algorithm:
rosrun taxi_amdp taxi.py
The multiple taxi extension of the original algorithm could be find in the multi_pas branch.