Start-Kit

Join the competition

Log in to the competition website with a GitHub account, and we will automatically create a private GitHub submission repo for you. The repo will be the place where you submit codes. In the My Submission page, you can click "My Repo" to open your GitHub submission repo page.

Clone your submission repo

Clone your submission repo to your local machine. The repo contains starter codes to help you prepare your submission.

$ git clone git@github.com:your_submission_repo_address
$ cd your_submission_repo

Compile the start-kit

Using compile.sh:

./compile.sh

Using cmake:

mkdir build
cd build
cmake ../ -DCMAKE_BUILD_TYPE=Release
make -j

Run the start kit

Running the start-kit using commands:

./lifelong --inputFile the_input_file_name -o output_file_location

for example:

./lifelong --inputFile ../example_problems/random.domain/random_20.json -o test.json

more info on help:

./lifelong --help

Upgrade Your Start-Kit

If your private start-kit copy repo was created before a start-kit upgrade, you could run the ./upgrade_start_kit.sh to upgrade your start-kit to the latest version.

You can check version.txt to know the current version of your start-kit.

The upgrade_start_kit.sh will check which file is marked as an upgrade needed and pull those files from the start-kit.

The upgrade may overwrite some of your changes to CMakeLists.txt and apt.txt, you could compare the difference using git diff and decide whether to revert some modifications on these files.

The upgrade script will not touch any participants' created file, python/pyMAPFPlanner.py, inc/MAPFPlanner.h and src/MAPFPlanner.cpp. So that participants' implementations should not be influenced by the start-kit upgrade.

Input output description

Please refer to the Input_Output_Format.md.

Prepare Your Planner

Please refer to the Prepare_Your_Planner.md.

Visualisation

We provide a visualisation tool written in Python: https://github.com/MAPF-Competition/MAPF_analysis.

It is able to visualise the output of the start-kit program and help participants to debug the implementations.

Submission Instruction

Please refer to the Submission_Instruction.md.

This version:

In planner, if agent reached goal within current commit window, it will go to dummy goal and disappear after window, if agent reached goal after current commit window, it will disappear at goal location

YueZhang-studyuse/PIE