atb033 / multi_agent_path_planning Goto Github PK

Hello! Great collection of the algorithms.

I am trying to use CBS and I have some issues when I run it with 3 or more agents. The solution is never found although should be simple.

This is my input

agents:
-   start: [1, 5]
    goal: [3, 9]
    name: agent0
-   start: [1, 9]
    goal: [3, 7]
    name: agent1
-   start: [1, 7]
    goal: [3, 5]
    name: agent2
map:
    dimensions: [13, 12]
    obstacles:
    - !!python/tuple [0, 0]
    - !!python/tuple [0, 1]
    - !!python/tuple [0, 2]
    - !!python/tuple [0, 3]
    - !!python/tuple [0, 4]

    - !!python/tuple [0, 6]
    - !!python/tuple [0, 7]
    - !!python/tuple [0, 8]
    - !!python/tuple [0, 9]
    - !!python/tuple [0, 10]
    - !!python/tuple [0, 11]

    - !!python/tuple [1, 0]
    - !!python/tuple [2, 0]
    - !!python/tuple [3, 0]
    - !!python/tuple [4, 0]
    - !!python/tuple [5, 0]
    - !!python/tuple [6, 0]
    - !!python/tuple [7, 0]
    - !!python/tuple [7, 1]
    - !!python/tuple [7, 2]
    - !!python/tuple [7, 3]
    - !!python/tuple [7, 4]
    - !!python/tuple [8, 4]
    - !!python/tuple [9, 4]
    - !!python/tuple [10, 4]
    - !!python/tuple [11, 4]

    - !!python/tuple [1, 11]
    - !!python/tuple [2, 11]
    - !!python/tuple [3, 11]
    - !!python/tuple [4, 11]
    - !!python/tuple [5, 11]
    - !!python/tuple [6, 11]
    - !!python/tuple [7, 11]
    - !!python/tuple [8, 11]
    - !!python/tuple [9, 11]
    - !!python/tuple [10, 11]
    - !!python/tuple [11, 11]

    # right wall
    - !!python/tuple [12, 5]
    - !!python/tuple [12, 6]
    - !!python/tuple [12, 7]
    - !!python/tuple [12, 8]
    - !!python/tuple [12, 9]
    - !!python/tuple [12, 10]
    - !!python/tuple [12, 11]

    - !!python/tuple [2, 3]
    - !!python/tuple [2, 4]

    - !!python/tuple [2, 6]
    - !!python/tuple [2, 7]
    - !!python/tuple [2, 8]
    - !!python/tuple [2, 9]

    - !!python/tuple [4, 2]
    - !!python/tuple [4, 3]
    - !!python/tuple [4, 4]

    - !!python/tuple [4, 6]
    - !!python/tuple [4, 7]
    - !!python/tuple [4, 8]
    - !!python/tuple [4, 9]

    - !!python/tuple [6, 2]
    - !!python/tuple [6, 3]
    - !!python/tuple [6, 4]

    - !!python/tuple [6, 6]
    - !!python/tuple [6, 7]
    - !!python/tuple [6, 8]
    - !!python/tuple [6, 9]

    - !!python/tuple [8, 6]
    - !!python/tuple [8, 7]
    - !!python/tuple [8, 8]
    - !!python/tuple [8, 9]

    - !!python/tuple [10, 6]
    - !!python/tuple [10, 7]
    - !!python/tuple [10, 8]
    - !!python/tuple [10, 9]

Hi, I'm trying to modify Hybrid Reciprocal Velocity Obstacle(HRVO) to fit my task. However, I found that if start and goal set as straight line (like start, goal = [25, 10], [25, 40], or start, goal = [10, 40], [40, 10]), the path will not go straightly without other obstacle interfere. Can you explain why and how to solve? thanks a lot!

(This gif just show the straight line path with HRVO algorithm)

I don't actually it's an issue or not. But I think there is a problem while generating planning/schedule for 8x8 or 32x32 grid.

I've only a little bit of knowledge about python.

This code requires that a valid output yaml file already exists. I think it ought to gracefully handle the case that no such file exists.

See title.

You need to define a canvas before you define the function-animation.
I have some fixed and slightly cleaned up code, so if you invite me to the repo, I can push a PR, if you want.

Way to replicate issue: Try creating video output. You will get an error message that says that an object related to canvas is None and does not have a certain property.

Can it support the input of obstacles of straight line type?

Hi,
I like your code. But when I try to check the cbs result, "python3 ../visualize.py input.yaml output.yaml" does not work since there is no visualize.py file in the code. Could you please upload it?
Regards,
Peter

In Line 44 of ./centralized/sipp/sipp.py, the self.open is a list. However in Line 57, is it judging whether self.open is a dictionary. It should be if not self.open: in Line 57. Would be great if you could fix this~

 Hi, I'm trying to test CBS to fit my task. I create the yaml file as follows for testing: 

agents:

• goal: [2, 0]
  name: agent0
  start: [1, 3]
• goal: [3, 1]
  name: agent1
  start: [0, 2]
• goal: [1, 0]
  name: agent2
  start: [2, 3]
  map:
  dimensions: [4, 4]
  obstacles:
  • !!python/tuple [0, 0]
  • !!python/tuple [0, 3]
  • !!python/tuple [3, 0]
  • !!python/tuple [3, 3]
    When I run the code as prompted by the READM.md file, I find that every time I input the above yaml file, the output result (that is, the solution of each agent in the output.yaml file) will be different. This difference will result in a difference in the depth of the constraint tree, so that the runtime of the program will be different. I want to ask you how to make CBS output a stable and unique solution every time it runs? Thank you for taking the time to check my feedback during your busy schedule. I look forward to your responses and suggestions.