Adaptive Shielding with SUMO

This is part of the work for "Adaptive Shielding under Uncertainty" paper: https://adaptiveshielding.xyz/

Install/Dependencies

The SUMO framework provides the simulation platform for this project. You find an install tutorial in the following link: https://www.eclipse.org/sumo/

Please install the model checker STORM. You find an install tutorial in the following link: https://www.stormchecker.org/getting-started.html

To build the code, we used CMake (Version 3.18.2).

Build

git clone https://github.com/shieldai/AdaptiveShielding.git
cd AdaptiveShielding
cmake .
make

Test

The test data is recorded with SUMO 1.7.0 and STORM 1.6.2. A different version can lead to a different result and could end in failing tests. Therefore, we recommend the Docker image mdei/shieldone:v1, which is also set in the scripts.

By running the run script with the test argument, all basic test will be executed and compared to the test data:

./run.sh test
# OR
./run_docker.sh

Run

Allowed options:
  -c [ --sumo ] arg            SUMO config file.
  -p [ --port ] arg            Port number for TraCI.
  -s [ --shield ] arg          Shield config files.
  -o [ --out ] arg             Outfile name for shielding log.
  -w [ --whitelist-tls ] arg   File with junction or tls IDs which will be 
                               shielded.
  -b [ --blacklist-tls ] arg   File with junction or tls IDs which will be not 
                               shielded.
  -i [ --incident-events ] arg File with traffic indecent event config.
  -u [ --update-interval ] arg Update interval of shields.
  -l [ --lambda ] arg          Learning rate (Shield Parameter lambda).
  -d [ --param-d ] arg         Shield Parameter d.
  -k [ --max-lane-size ] arg   Limit of recognized waiting vehicles on lanes 
                               (Shield Parameter K).
  -t [ --simulation-time ] arg Time step until stop the simulation.
  -x [ --warm-up-time ] arg    Time step until the shield starts to intervene.
  -g [ --gui ]                 Use sumo-gui.
  -f [ --free ]                Run without Shields.
  --bus                        Prioritize public transport.
  --no-lane-merging            Avoid the merging of parallel lanes.
  --static-update              Do shield updates in static interval no Minimum 
                               change for update required.
  --no-lane-trees              Disable accurate lane state for non OSM Maps.
  --side-by-side               Run a shielded and unshielded simulation 
                               simulations.
  --hook-sumo                  Connect to external started SUMO.
  --overwrite-controller       Overwrite the traffic light controller (RL 
                               Agent) with the shield strategy and reset to 
                               previous action if the overwritten controller 
                               takes not the control back.
  --help                       Help message.


./adaptiveShielding -c data/exp_basic/one_junction.sumo.cfg -g -d 4 -l 0.3 -k 10 -t 5000 -o log/demo.log

Please execute the SUMO scenarios with the shieldIDs.txt files and -w argument.

In the BASH file run.sh you find the right arguments to run the experiments.

Run with Docker

The experiments can be executed with docker on Linux and windows and also support the GUI mode. It requires an installed docker, and for windows, additionally, an X11 server to support the GUI mode.

# ON LINUX
./run_docker.sh
# ON WINDOWS
./run_docker.bat