mapf_r-visualizer

Multi-agent pathfinding with continuous time (MAPF_R) visualizer for research and educational usage.

Forked from mapf-visualizer, based on openFrameworks.

Written in C++, developed for Linux (Arch Linux, Debian, Ubuntu).

Demo

Install

git clone --recurse-submodules https://github.com/Tomaqa/mapf_r-visualizer.git
cd mapf_r-visualizer
./install_linux.sh <distro>
make

where <distro> is one of archlinux, debian, ubuntu.

Required: around 10 minutes

Usage

bin/mapf_r-visualizer data/graph/sample.g data/layout/sample.l data/plan/sample.p

You can manipulate it via your keyboard. See printed info.

When the file with plan is omitted, such as

bin/mapf_r-visualizer data/graph/sample.g data/layout/sample.l

then internal solver is invoked (which can take long time).

If a plan is not available for a pair of graph and layout, you can pre-generate it. It is not supported directly by this tool though, you have to use my solver. First, you must build it:

cd third_party/mapf_r
make

Then, to generate plan for a graph <graph> and a layout <layout> and to store the plan into output file <plan>, run

bin/release/mapf_r -g <graph> -l <layout> -p <plan>

(still within the directory third_party/mapf_r). For example:

bin/release/mapf_r -g data/graph/sample.g -l data/layout/sample.l -p sample.p

The output file should use the extension .p

Notes

• Error handling is poor

License

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