MAPF

Multi Agent Path Finding

0 Task 0: Preparing for the Project

0.1 Installing Python 3

This project requires a Python 3 installation with the numpy and matplotlib packages. On Ubuntu Linux, download python by using:

sudo apt install python3 python3-numpy python3-matplotlib

On Mac OS X, download Anaconda 2019.03 with Python 3.7 from https://www.anaconda.com/distribution/#download-section and follow the installer. You can verify your installation by using:

0.2 Installing the MAPF Software

Download the archive with the provided MAPF software and extract it on your computer.

0.3 Learning about MAPF

Read the provided textbook-style overview of MAPF.

0.4 Understanding Independent Planning

Execute the independent MAPF solver by using:

python run_experiments.py --instance instances/exp0.txt --solver Independent

If you are successful, you should see an animation:

1 Task 1: Implementing Space-Time A*

2 Task 2: Implementing Prioritized Planning

3 Task 3: Implementing Conflict-Based Search (CBS)

4 Task 4: Implementing CBS with Disjoint Splitting