Congestion MAPF

Congestion MAPF: A new optimization metric for large MAPF systems

This repository was originally forked from this repository.

Usage

The code requires the external libraries BOOST (https://www.boost.org/) and Eigen (https://eigen.tuxfamily.org/). Here is an easy way of installing the required libraries on Ubuntu:

sudo apt update

• Install the Eigen library (used for linear algebra computing)

  sudo apt install libeigen3-dev

• Install the boost library

  sudo apt install libboost-all-dev

After you installed both libraries and downloaded the source code, go into the directory of the source code and compile it with CMake:

cmake -DCMAKE_BUILD_TYPE=RELEASE .
make

Then, you are able to run the code:

./lns -m random-32-32-20.map -a random-32-32-20-random-1.scen -o test -k 400 -t 300 --outputPaths=paths.txt 

• m: the map file from the MAPF benchmark
• a: the scenario file from the MAPF benchmark
• o: the output file name (no need for file extension)
• k: the number of agents
• t: the runtime limit
• outputPaths: the output file that contains the paths

You can find more details and explanations for all parameters with:

./lns --help