APLA-Toolbox/pymapf - Githubissues

# PyMAPF ✨ A Python toolbox for Multi-Agents Planning (Centralized and Decentralized) ✨

![tests](https://github.com/APLA-Toolbox/pymapf/workflows/tests/badge.svg?branch=main) ![pip-package](https://github.com/APLA-Toolbox/pymapf/workflows/.github/workflows/pip-tests.yml/badge.svg) [![codecov](https://codecov.io/gh/APLA-Toolbox/pymapf/branch/main/graph/badge.svg?token=63GHA9JUND)](https://codecov.io/gh/APLA-Toolbox/pymapf) [![CodeFactor](https://www.codefactor.io/repository/github/apla-toolbox/pymapf/badge)](https://www.codefactor.io/repository/github/apla-toolbox/pymapf) [![Percentage of issues still open](http://isitmaintained.com/badge/open/APLA-Toolbox/pymapf.svg)](http://isitmaintained.com/project/APLA-Toolbox/pymapf "Percentage of issues still open") ![PipPerMonths](https://img.shields.io/pypi/dm/pymapf.svg) [![Pip version fury.io](https://badge.fury.io/py/pymapf.svg)](https://pypi.python.org/pypi/pymapf/) [![GitHub license](https://img.shields.io/github/license/Apla-Toolbox/pymapf.svg)](https://github.com/Apla-Toolbox/pymapf/blob/master/LICENSE) [![GitHub contributors](https://img.shields.io/github/contributors/Apla-Toolbox/pymapf.svg)](https://GitHub.com/Apla-Toolbox/pymapf/graphs/contributors/)

[Report Bug](https://github.com/APLA-Toolbox/pymapf/issues) · [Request Feature](https://github.com/APLA-Toolbox/pymapf/issues) Loved the project? Please consider [donating](https://www.buymeacoffee.com/dq01aOE) to help it improve!

Features 🌱

✨ Built to be expanded: easy to add new planners
🖥️ Supported on Ubuntu
🎌 Built with Python
🔎 Reactive Distributed Planners (Nonlinear Model Predictive Control, Velocity Obstacles)
🧭 Centralized Planners (Space-Time A*)
📊 Benchmark Tools (Incoming...)
🍻 Maintained (Incoming: Enhanced Conflict-Based Search, Local-Repair A, Replanning RRT...)

Dependencies 🖇️

Install Python (3.7.5 is the tested version)
Install Pip: sudo apt install python3-pip
Upgrade Pip: python3 -m pip install --upgrade pip

Using the repository 💾

Clone the repo: git clone https://github.com/apla-toolbox/pymapf
Cd into the repo cd pymapf
Install requirements: python3 -m pip install -r requirements.txt

Using the pip package 📦

Install the package: python3 -m pip install pymapf

Usage 📑

Scripts 💨

Launch hub switch scripts using:

python3 scripts/switch_positions_nmpc.py
python3 scripts/switch_positions_vel_obstacles.py (broken)

More to come...

Library 🗺️

from pymapf.decentralized import MultiAgentNMPC
from pymapf.decentralized.position import Position
import numpy as np

sim = MultiAgentNMPC()
sim.register_agent("r2d2", Position(0, 3), Position(10, 7))
sim.register_agent("bb8", Position(0, 7), Position(5, 10))
sim.register_agent("c3po", Position(10, 7), Position(5, 0))
sim.register_obstacle(2, np.pi/4, Position(0, 0))
sim.run_simulation()
sim.visualize("filename_test", 10, 10)

from pymapf.decentralized.velocity_obstacle import MultiAgentVelocityObstacle
from pymapf.decentralized.position import Position

sim = MultiAgentVelocityObstacle(simulation_time=8.0)
sim.register_agent("r2d2", Position(0, 3), Position(10, 7))
sim.register_agent("bb8", Position(0, 7), Position(5, 10))
sim.register_agent("c3po", Position(10, 7), Position(5, 0))
sim.run_simulation()
sim.visualize("filename_test_2", 10, 10)

Cite 📰

If you use the project in your work, please consider citing it with:

@misc{https://doi.org/10.13140/rg.2.2.14030.28486,
  doi = {10.13140/RG.2.2.14030.28486},
  url = {http://rgdoi.net/10.13140/RG.2.2.14030.28486},
  author = {Erwin Lejeune and Sampreet Sarkar},
  language = {en},
  title = {Survey of the Multi-Agent Pathfinding Solutions},
  publisher = {Unpublished},
  year = {2021}
}

List of publications & preprints using pymapf (please open a pull request to add missing entries):

Survey of MAPF solutions (January 2021)

Contribute 🆘

Open an issue to state clearly the contribution you want to make. Upon aproval send in a PR with the Issue referenced. (Implement Issue #No / Fix Issue #No).

Maintainers Ⓜ️

Erwin Lejeune
Sampreet Sarkar