/UnityVisualizer

Primary LanguageC++

MAPF-simulator

Multi-Robot Motion Planning Algorithms, Benchmark Instances, and Visualization

Dependencies

Unity: https://unity.com/download

Pybind11: https://pybind11.readthedocs.io/en/stable/

Next steps

  1. A mechanism to generate problems. The graph format may follow what we already have. Problems can be either one-shot or lifelong (multi-goal).
  2. Integrate MAPF planners

Folder structure

├── Assets/
    ├── DLLs/
    ├── Resources/
        ├── Maps/
        ├── Img/
        ├── PathFile/
        ├── Instances/
        ├── Texture/
    ├── Scenes/
    ├── Scripts/
├── src/
├── setup.py
├── simulator.py
├── readme.md

Build C++ MAPF Simulator Library Using Pybind11

python setup.py build_ext --inplace

Build Unity Standalone Visualizer

  1. Download Unity from https://unity.com/download
  2. Create a Unity project
  3. Put the Assets in the project
  4. Build and run

Simulator example usage

python simulator.py --json example.json

Run visualizer with commnad line

.\MAPF-2D.exe --map map_file --instance instance_file --paths paths_file