CL-ECBS and CL-PIBT

Overview

In this repo, we provide the implementation of CL-ECBS, CL-CBS, CL-PIBT, SHA* algorithms.

The video demonstration can be found here

Source Code

Requirement

sudo apt-get install g++ cmake libboost-program-options-dev libyaml-cpp-dev \
clang-tidy clang-format python3-matplotlib libompl-dev libeigen3-dev

Note: Please make sure your matplotlib version is above 2.0, otherwise it may show weird image while visualization. You can upgrade it by pip3 install -U matplotlib.

Build

cd static #or cd lifelong
mkdir build 
cd build
cmake -DCMAKE_BUILD_TYPE=Release  ..
make -j8

Instance Generation

Users can use "generator.py" to generate random instances. All instances will be saved as json files.

Run instances

./CL-ECBS -i input.json -o output.json
./PIBT -i input.json -o output.json

Visualize Results

# make sure your are in build folder
python3 ../src/visualize.py -m  input.json -s output.json

Acknowledgement

We would like to express our gratitude to Licheng Wen and their team for generously sharing their code.