Lifelong_v0.06.0 #98
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Lifelong_v0.06.0 #98
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* Remove SST from TransientMAPFSettings, use only I_SolutionCostFunction. In PrP, properly initialize subproblem GAndH when using SST cost function * fix TransientMAPFExampleMain
* add MDD copy under constraints functionality * misc. comments, todos, cleaning * Use bigger prime for Coordinate_2D to reduce the likelihood of hash collisions * Fix LargeNeighborhoodSearch_SolverTest because commit #76f584d1 affected the tie breaking * MDD functionality extensions * PCS v1 * add useSimpleMDDCache to PCS * PCS tie breaking for higher g * change getHToTargetFromLocation signature to return int * make MDDManager handle getting queried for depth out of order * add partial generation to PCS * add printEnv to main * add printEnv to main * MDD building optimizations and tests * always report all standard cost functions * add expansion and generation rates to standard fields * add using perfect heuristic in some SIPP tests * PCS assorted fixes and improvements * TODO use Timeout in RunParameters * change default to usePartialGeneration * PCS fix usePartialGeneration * MDDManager optimization - lazier getMDD * add PCS SIPP-based heuristic * fix SIPP based heuristic * update PCS tests * Add support for random tie-breaking in A* * groundwork SIPP for random tie-breaking * PP AStar random restarts * fix PrP test asserts * small updates * use SIPP heuristic by default * SIPP add an option to initialize intervals externally * PCS initialize safe intervals to reuse them * remove todo * merge from master * add PCS to performance benchmark * reduce PCS performance benchmark to 20 agents * shorten PCS tests * rename PCS test * shorten PCS tests
# Conflicts: # src/main/java/BasicMAPF/Solvers/CBS/CBS_Solver.java # src/main/java/BasicMAPF/Solvers/LargeNeighborhoodSearch/LargeNeighborhoodSearch_Solver.java # src/main/java/BasicMAPF/Solvers/PrioritisedPlanning/PrioritisedPlanning_Solver.java # src/main/java/Environment/RunManagers/GenericRunManager.java # src/main/java/TransientMAPF/TransientMAPFExampleMain.java # src/test/java/BasicMAPF/Solvers/PrioritisedPlanning/PrioritisedPlanningSolverTest.java
* first commit * begin implement LaCAM algorithm * begin implement LaCAM algorithm * begin implement LaCAM algorithm * implement LaCAM * LaCAM - start implement create new configuration * basic test passes in LaCAM, adapt PIBT * LaCAM tests * LaCAM tests * LaCAM tests * LaCAM tests * LaCAM tests * returnPartialSolutions flag in PIBT * LaCAM tests * LaCAM add tests * continue implement LaCAM, still not working * add complicated test instances to LaCAM * LaCAM tests * small changes LaCAM * add transient option to LaCAM * improve implementation of LaCAM * improve implementation of LaCAM * LaCAM implementation * try to adapt pibt to find configuration for LaCAM * try to adapt pibt to find configuration for LaCAM * add LeCAM debug parameters to instanceReport * clean code and try to improve LaCAM * LaCAM bug fix * try to improve performance of LaCAM * improving LaCAM * clean code of LaCAM, need to detect bug in pibt * clean code of LaCAM, need to detect bug in pibt * clean code of LaCAM, need to detect bug in pibt * add transient to LaCAM solver and tests * LaCAM improvements - need to detect transient bug * merge from master * implementing LaCAMt, clean code * add LaCAMStar solver based on LaCAM class * add LaCAMStar solver based on LaCAM class * try to improve LaCAM and LaCAM*, still heap overflow * try to improve LaCAM and LaCAM*, add timestep * improve LaCAMt, start separation of LaCAM and LaCAMStar * final changes in LaCAM and LaCAM* * final changes before PR * final changes before PR, add composition to implement LaCAMStar
# Conflicts: # src/main/java/BasicMAPF/Solvers/PIBT/PIBT_Solver.java
* add Config static class * add debug and info to command line args
# Conflicts: # src/main/java/BasicMAPF/Solvers/LargeNeighborhoodSearch/LargeNeighborhoodSearch_Solver.java # src/main/java/BasicMAPF/Solvers/PrioritisedPlanning/PrioritisedPlanning_Solver.java # src/main/java/Environment/RunManagers/GenericRunManager.java # src/main/java/TransientMAPF/TransientMAPFExampleMain.java # src/test/java/BasicMAPF/Solvers/PerformanceBenchmarkTest.java # src/test/java/BasicMAPF/Solvers/PrioritisedPlanning/PrioritisedPlanningSolverTest.java
* adapt LaCAM to Lifelong * adapt LaCAM to Lifelong, add non-transient PIBT * set experiments * set main experiment * set main experiment * set new lifelong experiment * set new lifelong experiment * Fix LaCAM_Solver.sharedGoals. Was considering having a target conflict on a shared goal as no having no conflict for the move. Now only ignores that specific target conflict. * add metrics for throughput at later timesteps * add more throughput numbers to "log" results * no shareGoals in experiment * temporary fix to allow non-shared goals in lifelong * clean code before PR * merge lifelong * fix PIBT after merge, remove use in goalCnfiugration, changes before PR * Update src/main/java/LifelongMAPF/LifelongRunManagers/A_LifelongRunManager.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/LifelongMAPF/LifelongRunManagers/A_LifelongRunManager.java Co-authored-by: J-morag <[email protected]> * use utils in LaCAM tests * use utils in LaCAM tests * use utils in LaCAM tests * use utils in LaCAM tests * improve partial solution strategy, keep track on best node to return partial solution from * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAMStar_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAMStar_Solver.java Co-authored-by: J-morag <[email protected]> * refactoring and final changes before PR * refactoring and final changes before PR * long experiments configuration * add relevant changes to handle constraints to work with subset agents selection * merge lifelong, minor changes before pr merge --------- Co-authored-by: J-morag <[email protected]>
…nager output ("log" files)
* add stay in current location in lacam * Do constraints checks only if necessary for efficiency * add constraints handling test * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> --------- Co-authored-by: J-morag <[email protected]>
* add constraints support in lacam, do constraints checks only if necessary for efficiency * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * refactoring and removing not necessary constraints set * add constraints handling test --------- Co-authored-by: J-morag <[email protected]>
…me (#41) * add-offline-solver-runtime-metric-to-lifelong * fix low level runtime and calls
* add boolean to TransientMAPFSettings indicates avoid separating vertices * Implementing Tarjan's Algorithm to find cut vertices with Iterative DFS * Add separating vertices set to RunParameters * Update src/main/java/BasicMAPF/DataTypesAndStructures/RunParameters.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/DataTypesAndStructures/RunParameters.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/DataTypesAndStructures/RunParameters.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/DataTypesAndStructures/RunParametersBuilder.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/TransientMAPF/TransientMAPFSettings.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * throw exceptions where needed, add separating vertices support for PIBT and improve efficiency * refactoring of files locations, support finding SVs to I_ExplicitMap, make SV finder static, improve SV test class, * Update src/main/java/BasicMAPF/Solvers/PrioritisedPlanning/PrioritisedPlanning_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/TransientMAPF/SeparatingVerticesFinder.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/CBS/CBS_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LargeNeighborhoodSearch/LargeNeighborhoodSearch_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/TransientMAPF/SeparatingVerticesFinder.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/TransientMAPF/TransientMAPFExampleMain.java Co-authored-by: J-morag <[email protected]> * Update src/test/java/BasicMAPF/Solvers/LargeNeighborhoodSearch/LargeNeighborhoodSearch_SolverTest.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/TransientMAPF/SeparatingVerticesFinder.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/TransientMAPF/SeparatingVerticesFinder.java Co-authored-by: J-morag <[email protected]> * visualize SV in visualizer and print in test * final fixes before PR --------- Co-authored-by: J-morag <[email protected]>
* add relevant test constants to transient test, add transeint test, add bug fix in lacam when agent stays in current location. * Add transient lifelong test, set factory solvers to best settings * Update src/test/java/BasicMAPF/TestConstants/Agents.java Co-authored-by: J-morag <[email protected]> * changes before PR * improve test in LifelongSimulationSolverTest --------- Co-authored-by: J-morag <[email protected]>
* changes required to create LaCAM builder class (#37) * Add low level expansion/generation rate, and add all rates to A_RunManager output ("log" files) * add generation and expansion rates for low-level * fix low level expansion/generation rate metric * simplify (and optimize?) TieBreakingForLessConflictsAndHigherG * lacam constraints support (#39) * add constraints support in lacam, do constraints checks only if necessary for efficiency * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * refactoring and removing not necessary constraints set * add constraints handling test --------- Co-authored-by: J-morag <[email protected]> * Add regenerated nodes metric. Low level only. * Add regenerated nodes metric. Low level only. * simplify Move.equals * Transient seperating vertices (#43) * add boolean to TransientMAPFSettings indicates avoid separating vertices * Implementing Tarjan's Algorithm to find cut vertices with Iterative DFS * Add separating vertices set to RunParameters * Update src/main/java/BasicMAPF/DataTypesAndStructures/RunParameters.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/DataTypesAndStructures/RunParameters.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/DataTypesAndStructures/RunParameters.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/DataTypesAndStructures/RunParametersBuilder.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/TransientMAPF/TransientMAPFSettings.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java Co-authored-by: J-morag <[email protected]> * throw exceptions where needed, add separating vertices support for PIBT and improve efficiency * refactoring of files locations, support finding SVs to I_ExplicitMap, make SV finder static, improve SV test class, * Update src/main/java/BasicMAPF/Solvers/PrioritisedPlanning/PrioritisedPlanning_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/TransientMAPF/SeparatingVerticesFinder.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/CBS/CBS_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/LargeNeighborhoodSearch/LargeNeighborhoodSearch_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/TransientMAPF/SeparatingVerticesFinder.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/TransientMAPF/TransientMAPFExampleMain.java Co-authored-by: J-morag <[email protected]> * Update src/test/java/BasicMAPF/Solvers/LargeNeighborhoodSearch/LargeNeighborhoodSearch_SolverTest.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/TransientMAPF/SeparatingVerticesFinder.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/TransientMAPF/SeparatingVerticesFinder.java Co-authored-by: J-morag <[email protected]> * visualize SV in visualizer and print in test * final fixes before PR --------- Co-authored-by: J-morag <[email protected]> * merge fixes and add LaCAMBuilder --------- Co-authored-by: J-morag <[email protected]>
#48) * Add results printing function to test utils, with running example using CBS. Add constraints handling in LaCAM_Solver * Update src/test/java/BasicMAPF/Solvers/CBS/CBS_SolverTest.java Co-authored-by: J-morag <[email protected]> * Update src/test/java/BasicMAPF/TestUtils.java Co-authored-by: J-morag <[email protected]> * refactoring before PR --------- Co-authored-by: J-morag <[email protected]>
* add SV support for PrPt and CBSt * Update src/main/java/BasicMAPF/Solvers/CBS/CBS_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/CBS/CBS_Solver.java Co-authored-by: J-morag <[email protected]> * Update src/main/java/BasicMAPF/Solvers/CBS/CBS_Solver.java Co-authored-by: J-morag <[email protected]> * add TransientMAPFUtils class and put all relevant static function in it, make changes accordingly in all relevant solvers --------- Co-authored-by: J-morag <[email protected]>
# Conflicts: # src/main/java/BasicMAPF/Solvers/CBS/CBS_Solver.java # src/main/java/BasicMAPF/Solvers/LaCAM/LaCAMBuilder.java # src/main/java/BasicMAPF/Solvers/LaCAM/LaCAM_Solver.java # src/main/java/BasicMAPF/Solvers/LargeNeighborhoodSearch/LargeNeighborhoodSearch_Solver.java # src/main/java/BasicMAPF/Solvers/PIBT/PIBT_Solver.java # src/main/java/BasicMAPF/Solvers/PrioritisedPlanning/PrioritisedPlanning_Solver.java # src/main/java/Environment/RunManagers/A_RunManager.java # src/main/java/TransientMAPF/TransientMAPFExampleMain.java # src/main/java/TransientMAPF/TransientMAPFSettings.java # src/test/java/BasicMAPF/Solvers/CBS/CBS_SolverTest.java # src/test/java/BasicMAPF/Solvers/LaCAM/LaCAM_SolverTest.java # src/test/java/BasicMAPF/Solvers/PrioritisedPlanning/PrioritisedPlanningSolverTest.java # src/test/java/BasicMAPF/TestConstants/Agents.java # src/test/java/BasicMAPF/TestUtils.java
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