pettni / mdp_network

Modeling and solutions of stochastic dynamic programming problems

mdp_network

Implementation of MDP networks for modeling and policy generation used to synthesize policies for the two papers:

• Petter Nilsson, Thomas Gurriet, Andrew Singletary and Aaron D. Ames, Demonstrating Cooperative Multi-Robot Task Planning in Partially Known Environments

• Petter Nilsson, Sofie Haesaert, Rohan Thakker, Kyohei Otsu, Cristian-Ioan Vasile, Ali-akbar Agha-Mohammadi, Aaron D. Ames and Richard M. Murray, Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams, in Proceedings of Robotics: Science and Systems Conference, 2018

Installation

This package is developed for Python 3.6. Install necessary packages

sudo apt install graphviz-dev 
pip install -r requirements.txt 

Install the best package as follows:

python setup.py install

For development (create links to source code, no need to reinstall after making changes):

python setup.py develop

Run tests:

nosetests

To use ROS-based controllers, in addition these packages are needed

pip install rospkg catkin-tools pyyaml