pymapf 0.1.1

Pymapf is a library for decentralized and centralized multi-agent planning tools

PyMAPF

A Python toolbox for Multi-Agents Planning (Centralized and Decentralized)

Planners

Decentralized (distributed)

• Velocity Obstacles
• Nonlinear Model Predictive Control
• TO DO:
  • Add parallelism
  • Replanning RRT*

Centralized

• TO DO:
  • CBS
  • ECBS
  • SIPP

Dependencies

• Install Python (3.7.5 is the tested version)
• Install Pip: sudo apt install python3-pip
• Upgrade Pip: python3 -m pip install --upgrade pip

Using the repository

• Clone the repo: git clone https://github.com/apla-toolbox/pymapf
• Cd into the repo cd pymapf
• Install requirements: python3 -m pip install -r requirements.txt

Using the pip package (Not yet available)

• Install the package: python3 -m pip install pymapf

Usage

Scripts

Launch hub switch scripts using:

• python3 scripts/switch_positions_nmpc.py
• python3 scripts/switch_positions_vel_obstacles.py (broken)

More to come...

Library

from pymapf.decentralized import MultiAgentNMPC
from pymapf.decentralized.position import Position
import numpy as np

sim = MultiAgentNMPC()
sim.register_agent("r2d2", Position(0, 3), Position(10, 7))
sim.register_agent("bb8", Position(0, 7), Position(5, 10))
sim.register_agent("c3po", Position(10, 7), Position(5, 0))
sim.register_obstacle(2, np.pi/4, Position(0, 0))
sim.run_simulation()
sim.visualize("filename_test", 10, 10)

from pymapf.decentralized.velocity_obstacle import MultiAgentVelocityObstacle
from pymapf.decentralized.position import Position

sim = MultiAgentVelocityObstacle(simulation_time=8.0)
sim.register_agent("r2d2", Position(0, 3), Position(10, 7))
sim.register_agent("bb8", Position(0, 7), Position(5, 10))
sim.register_agent("c3po", Position(10, 7), Position(5, 0))
sim.run_simulation()
sim.visualize("filename_test_2", 10, 10)

Contribute

Open an issue to state clearly the contribution you want to make. Upon aproval send in a PR with the Issue referenced. (Implement Issue #No / Fix Issue #No).

Maintainers

• Erwin Lejeune
• Sampreet Sarkar