Multi-Agent-Pickup-and-Delivery

This is a multi-agent pickup and delivery solver for a custom domain involving different colored teams of agents that need to deliver their colored packages to their corresponding colored depots. The client solver uses:

• modified version of conflict-based search (CBS) with FOCAL search to handle resource conflicts and communication
• integer linear programming to assign packages to teams based on color, distance, and ordering constraints

Example of a quickly-found but suboptimal solution for a level involving communication between agents:

Architecture

Installation

• install gurobi optimizer at https://support.gurobi.com/hc/en-us/articles/4534161999889-How-do-I-install-Gurobi-Optimizer-
• create env_vars.mk file in top level directory with the following contents:

GUROBI_HOME := /Library/gurobi1001/macos_universal2
PATH := "${PATH}:${GUROBI_HOME}/bin"
GUROBI_JAR := ${GUROBI_HOME}/lib/gurobi.jar
LD_LIBRARY_PATH := "${LD_LIBRARY_PATH}:${GUROBI_HOME}/lib" # note: you may have to change : -> ; if on Windows
GRB_LICENSE_FILE := /Library/gurobi1001/gurobi.lic

Running

• make run with defaults
• or e.g. make run l=MAPF00 algo=astar heur=manhattan where l is level in mas/src/main/java/com/smac/mas/levels

Testing

• edit mas/src/main/java/com/smac/mas/tests/test_levels.txt to inclue the levels you want to test
• run make test

Before merging new code, please:

1. add whatever new test level files to test_levels.txt
2. make test TIMEOUT=1 to see everything is good
3. make test-save TIMEOUT=1 which will override latest.json and add a copy as datetime.json in results/ so be careful!

If you are getting timeouts for slow levels, either remove them bc they are probably not unit-test like or bump TIMEOUT.

If you want to test your own custom levels, create a file in tests/ and then run: make test test_levels_file=tests/<your file>

Debugging (from cli)

• after running jdb -attach, should see "VM Started: > No frames ... main[1]", then you can run:

• stop at searchclient.SearchClient:<line-number>, e.g. stop at searchclient.SearchClient:111

• run

• to debug other classes called by SearchClient, you will have to step into the line called within SearchClient.main and then, e.g.:
• stop in searchclient.Heuristic.h to debug the h method in this class
• you can double check jdb has loaded the class you want to debug
• by running classes and ensuring it shows at the end of the output
• note: client never times out in debug mode
• make debug, then either in another terminal, run "jdb -attach 5005" (see notes below for tips on debugging from command-line)
• or create a debugging agent in an IDE, e.g. intellij and set the port to 5005 and debug from there

Development:

cd Multi-Agent-Pickup-and-Delivery (aka top level git dir)
mvn archetype:generate -DgroupId=com.smac.mas -DartifactId=mas -DarchetypeArtifactId=maven-archetype-quickstart -DarchetypeVersion=1.4 -DinteractiveMode=false

Credits

Team members: Elle McFarlane, Adam Bosák, Harsh Vardhan Rai, Alan Mansour