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WheelChan / Multi-Agent-Path-Finding

Goal of project is to write programs that will allow multiple agents to find optimal paths from their start location to their goal location such that all agents are able to move simultaneously. Various algorithms will be explored such as Prioritized Planning, Conflict-Based Search (CBS), A* Search. Additionally, a paper that describes Safe Interval Path Planning (SIPP) provided the inspiration for writing of SIPP versions of Prioritized Planning and CBS.
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question #1

Open Rinvay616 opened 2 years ago

Rinvay616 commented 2 years ago

how to call sipp_astar

Sirius-1110 commented 1 month ago 
python run_experiments.py --instance instances/test1.txt --solver Sipp_independent
***Import an instance***
Start locations
@ @ @ @ @ 
@ . . 1 @ 
@ . . . @ 
@ . . . @ 
@ . . . @ 
@ . . 0 @ 
@ @ @ @ @ 

Goal locations
@ @ @ @ @ 
@ . . 0 @ 
@ . . . @ 
@ . . . @ 
@ . . . @ 
@ . 1 . @ 
@ @ @ @ @ 

***Run SIPP Independent***
Inside SIPP start finding a soln!!!!

Plan successfully calculated!!
Expanded Nodes:  4
Generated Nodes:  7
!!!! PLAN: 
[{'x': 5, 'y': 3, 't': 0}, {'x': 4, 'y': 3, 't': 1}, {'x': 3, 'y': 3, 't': 2}, {'x': 2, 'y': 3, 't': 3}, {'x': 1, 'y': 3, 't': 4}]
[[{'x': 5, 'y': 3, 't': 0}, {'x': 4, 'y': 3, 't': 1}, {'x': 3, 'y': 3, 't': 2}, {'x': 2, 'y': 3, 't': 3}, {'x': 1, 'y': 3, 't': 4}]]
Inside SIPP start finding a soln!!!!

Traceback (most recent call last):
  File "run_experiments.py", line 122, in <module>
    paths = solver.find_solution()
  File "/home/XX/Documents/Multi-Agent-Path-Finding/sipp_independent.py", line 61, in find_solution
    raise BaseException('No solutions')
BaseException: No solutions