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Multi-agent Pathfinding on Large Maps Using Graph Pruning: This Way or That Way?

This is an implementation of graph pruning strategies and shortest paths choices for reduction-based solvers usable on large maps. Specifically, our framework uses the ASP-solver clingo.

Contents

  • ./resources contains the scenario and map files used.
  • ./solvers contains the encodings of the ASP-based solver and the SAT-based solver.
  • ./src contains the source codes in C++ for the strategy framework.
  • ./statistics contains the measured results.
  • ./experiment.sh a script that solves all of the included instances using all of the possible combinations of strategies and underlying solvers.
  • ./makefile a makefile provided for easy compilation and experiment execution.

Requirements

Framework System

Building the framework system requires

  • GNU make
  • g++ compatible with standard c++17 support

The system is intended to run in a POSIX terminal with GNU bash.

ASP encoding

The ASP encoding requires ASP system clingo in version 5.5.0 or higher. The encodings and preprocessing are available in this repo.

SAT-based MAPF solver

The SAT-based MAPF solver is availabe in this repo.

Installation

Clone this repository recursively via git clone --recursive.

To build the framework system, run make in the root directory of your locally cloned repository.

Usage

To solve a single instance, call the framework via

./subgraph_framework  [-h] [-d] [-n] [-o] -b base_algorithm -i agents_file -s strategy [-t timeout] [-p shortest_path] [-P] [-a initial_agents] [-k agents_increment]
	-h                  : prints help and exits
	-d                  : debug print - keep all of the used instance and output files
	-n                  : do not call solver, only print instance in given format
	-o                  : oneshot solve, do not perform any subsequent calls
	-b base_algorithm   : base algorithm to be used. Available options are asp-mks asp-soc asp-inc-mks asp-inc-soc sat-mks sat-soc
	-i agents_file      : path to an agents file
	-s strategy         : strategy to be used. Available options are b|m|p|c
	-t timeout          : timeout of the computation in s. Default value is 300s
	-p shortest_path    : what shortest path to use to create the pruned graph. Available options are biased|random|cross|time. Default is biased
	-a initial_agents   : initial number of agents. Default is 1
	-k agents_increment : increment in number of agents after successful solve. Default is 1. If 0 is selected, do not increase.

To solve all of the included scenario files, call make experiment. The result files are stored in the ./statistics folder.

References

If you use our system, please cite this paper.