Kei18/lacam - Githubissues

lacam

The code repository of the paper "LaCAM: Search-Based Algorithm for Quick Multi-Agent Pathfinding" (AAAI-23).

Building

All you need is CMake (≥v3.16). The code is written in C++(17).

First, clone this repo with submodules.

git clone --recursive https://github.com/Kei18/lacam.git
cd lacam

Then, build the project.

cmake -B build && make -C build

Docker

You can also use the docker environment (based on Ubuntu18.04) instead of the native one.

# ~10 min, mostly for CMake build
docker compose up -d
docker compose exec dev bash
> cmake -B build && make -C build

Usage

build/main -i assets/random-32-32-10-random-1.scen -m assets/random-32-32-10.map -N 50 -v 1

The result will be saved in build/result.txt.

Output File

This is an example output of `random-32-32-10-random-1.scen`. `(x, y)` denotes location. `(0, 0)` is the left-top point. `(x, 0)` is the location at `x`-th column and 1st row. ``` agents=50 map_file=random-32-32-10.map solver=planner solved=1 soc=1316 soc_lb=1113 makespan=55 makespan_lb=53 sum_of_loss=1191 sum_of_loss_lb=1113 comp_time=1 seed=0 starts=(11,6),(29,9),[...] goals=(7,18),(1,16),[...] solution= 0:(11,6),(29,9),[...] 1:(10,6),(29,10),[...] [...] ```

You can find details of all parameters with:

build/main --help

Visualizer

@Kei18/mapf-visualizer is available.

Experiments

The experimental script is written in Julia ≥1.7. Setup may require around 10 minutes.

sh scripts/setup.sh

Edit the config file as you like. Examples are in scripts/config . The evaluation starts by following commands.

julia --project=scripts/ --threads=auto
> include("scripts/eval.jl"); main("scripts/config/mapf-bench.yaml")

Notes

The grid maps and scenarios in assets/ are from MAPF benchmarks.
The empirical data of the manuscript was obtained with [exp/AAAI2023].
LaCAM with different design choices: see [pilot/greedy] and [pilot/dbs]
tests/ is not comprehensive. It was used in early developments.
Auto formatting (clang-format) when committing:

git config core.hooksPath .githooks && chmod a+x .githooks/pre-commit

Licence

This software is released under the MIT License, see LICENSE.txt.

Author

Keisuke Okumura is a Ph.D. student at Tokyo Institute of Technology, interested in controlling multiple moving agents.

Kei18 / lacam

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