Solve MAPF problem when the agents are heterogeneous.
sudo apt-get install g++ cmake libboost-program-options-dev libyaml-cpp-dev \
clang-tidy clang-format python3-matplotlib libompl-dev libeigen3-devNote: Please make sure your
matplotlibversion is above 2.0, otherwise it may show weird image while visualization. You can upgrade it bypip3 install -U matplotlib.
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j8make: Build Hetero-MAPF codemake clang-format: Re-format all source filesmake all: Build all three targets above
Todo: Prepare for doxygen.
# make sure your are in build folder
# default 5 agent in a batch
./planner -i ../maps/random.yaml -o output.yaml
# or compute 10 agents in a whole batch
./planner -i ../maps/random.yaml -o output.yaml -b 10The maps folder also contains a warehouse map for test.
# make sure your are in build folder
python3 ../src/visualize.py -m ../maps/random.yaml -s output.yaml The agent configurations, including the size, the kinematic constraints, and penalty functions can be changed in src/config.yaml.
The code is provided under the MIT License.
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