CBMxSOC is an algorithm that is able to solve the Multi-Agent Pathfinding with Matching (MAPFM) problem. This repository is part of a paper describing this algorithm. This paper can be found here.
The main thing to do, is to make a copy of src/example.env.yaml to src/env.yaml, and change this accordingly. The next couple of sections will indicate the different types of things that can then be done.
On this website, purpose built for this and previous related research papers, one can benchmark MAPFM solvers on different maps. In order to run, fill in an API token in server-problem.api-token and set run-benchmark: no in src/env.yaml. Other options to tweak the interaction and debugging options are also available. Next, run main.py.
All maps and data used in the paper are available in maps/ and data/ respectively. In order to run these benchmarks, set run-benchmark: yes and set the correct benchmark.root in src/env.yaml. Other options to tweak the amounts of samples, cores and timesouts are also available. Next, run main.py.
In order to plot these benchmark results, run benchmark_drawer.py. This will generate PDF images in data/. When data is received that is generated by the benchmarker in this repository, run the jonay2000_to_csv.py script. This will generate matching data files which can subsequently be processed by benchmark_drawer.py.
The implementation depends on a fork of Google's OR-tools. Upon checking out this fork, the following commands can be run to build and install it:
cd or-tools
cmake -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -S. -Bbuild -DBUILD_PYTHON=ON
cmake --build build --target python_package -v -j24
pip install ./build/python