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Tracker Transfer.md

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Tracker Transfer

Tracker Transfer is a tool that helps to convert best-known solutions to a wide range of MAPF problems, as published by the community website MAPF Tracker. Once converted, these plans can be visualised with PlanViz.

To use this tool, you need a MAPF plan, and the corresponding scenario file (.scen) which contains the start and target locations of the agents. Both are available for download from the MAPF Tracker.

Arguments

  • plan (type: str): Path to the MAPF plan file (ends with .csv). See example/random-32-32-20.csv and example/random-32-32-20_random_1_300.csv for more information.
  • multiPlan: Indicates whether the input plan file contains multiple MAPF plans (True if specified).
  • scen (type: str): Path to scenario file for single plan file (ie. example/random-32-32-20_random_1_300.csv), path to the folder that contains the scenario files (ie. example/scen-files) if multiPlan is enabled.
  • outputFile (type: str): Path to the output file without extension (ie. example/transfer_result).

Run

The following example shows how to convert the plan (CSV format) for a single instance involving 300 agents on a small grid map with randomly placed obstacles. The input MAPF plan and the corresponding scenario file (which details the start and target locations of the agents) can both be found in the example/ subfolder of this repository. The output of this demo is an output file which can be passed to PlanViz, and which will be created at location example/transfer_result:

python3 script/tracker_transfer.py --plan example/random-32-32-20_random_1_300.csv --scen example/random-32-32-20-random-1.scen --outputFile example/transfer_result

The following example shows how to convert a set of plans appearing in a single CSV file (these can be bulk exported from the MAPF Tracker). The plan and scenario files used for this demo are both found in the example/ subfolder of this repository. The resulting PlanViz files (JSON format) are all placed in example/transfer_result:

python3 script/tracker_transfer.py --plan example/random-32-32-20.csv --scen example/scen-files --outputFile example/transfer_result --multiPlan

After converting a MAPF Tracker plan to the PlanViz format, you can visualise the result, as shown in the following example. The demo refers to a MAPF plan that we converted earlier and which is again available in the example/ subfolder:

python3 script/run.py --map example/random-32-32-20.map --plan example/mapf_plan_example.json --grid --aid --static --ca