n47in / multi-agent-path-finding-motion-planning

Hybrid decoupled path planning stack for Multi Agent Systems in Search and Rescue operations using Reciprocal Obstacles

• Install Webots
• Open the mapf.wbt world from the Worlds directory
• Launch the 4 controllers as extern controllers by adding the following aliases to bashrc : export WEBOTS_HOME=/usr/local/webots alias admin='$WEBOTS_HOME/webots-controller --robot-name=Admin /home/navin/catkin_ws/src/Multi-Agent-Path-Finding-Motion-Planning/Webots_Scripts/admin.py' alias agent1='$WEBOTS_HOME/webots-controller --robot-name=Agent1 /home/navin/catkin_ws/src/Multi-Agent-Path-Finding-Motion-Planning/Webots_Scripts/agent1.py' alias agent2='$WEBOTS_HOME/webots-controller --robot-name=Agent2 /home/navin/catkin_ws/src/Multi-Agent-Path-Finding-Motion-Planning/Webots_Scripts/agent2.py' alias agent3='$WEBOTS_HOME/webots-controller --robot-name=Agent3 /home/navin/catkin_ws/src/Multi-Agent-Path-Finding-Motion-Planning/Webots_Scripts/agent3.py'
• change the controller path according to the file you want to use, agent for vanilla rrt* and path tracking, agent_rvo for windowless RVO, agent<agent_num>_local for windowed RVO
• execute the 4 aliases in 4 instances of the terminal window, voila!