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polygonal_roadmaps Python package for creating Polygonal Roadmaps and planning paths in said roadmaps

The content of the package is subdivided into three modules: pathfinding, geometry.

Install

To use the package run pip install -r requirements.txt or install the dependencies via conda.

Pathfinding

The pathfinding package contains all methods realated to pathfinding within the roadmap graph.

Geometry

The geometry module contains functionality regarding the construction of the reoadmap graph and the geometric considerations used for planning a path in the roadmap.

Testing

You can execute tests with pytest or push to github and see the result of the github-action.

Citations

  • Roadmap: S. Mai, M. Deubel, and S. Mostaghim, “Multi-Objective Roadmap Optimization for Multiagent Navigation,” in 2022 IEEE Congress on Evolutionary Computation (CEC), Jul. 2022, pp. 1–8. doi: 10.1109/CEC55065.2022.9870300.
  • CCR Planner: S. Mai and S. Mostaghim, “Collective Decision-Making for Conflict Resolution in Multi-Agent Pathfinding,” in Swarm Intelligence, Cham, 2022, pp. 79–90. doi: 10.1007/978-3-031-20176-9_7.