Adaptive Discretization using Voronoi Trees for Continuous-Action POMDPs (ADVT)

This repository contains the C++ source code of our online POMDP solver ADVT:

@inproceedings{hoerger22:ADVT,
  title={Adaptive Discretization using Voronoi Trees for Continuous-Action POMDPs},
  author={Hoerger, Marcus and Kurniawati, Hanna and Kroese, Dirk and Ye, Nan},
  booktitle={Proc. Int. Workshop on the Algorithmic Foundations of Robotics},  
  year={2022}
}

Overview

The code consists of two parts: The ADVT folder contains the implementation of ADVT. The ProblemScenarios folder contains implementations of the example problems ADVT was evaluated on in the above paper.

Getting started

Dependencies

To build and run ADVT on the provided problem scenarios, the following dependencies have to be installed:

Ubuntu 20.04
C++ standard 11 or higher
OPPT: https://github.com/RDLLab/oppt (Installation instructions are provided in the repository)
CGAL version 5.4 or higher: https://www.cgal.org/. (Installation: Linux)

Compiling ADVT

To compile ADVT, navigate to the ADVT folder an execute

mkdir build && cd build
cmake ..
make

After ADVT has been successfully build, the advt executable can be found inside the ADVT/bin folder.

Compiling the problem scenarios

To compile the problem scenarios, navigate to the ProblemScenarios folder and execute

mkdir build && cd build
cmake -DCMAKE_INSTALL_PREFIX=<problem_scenarios_install_dir> ..
make && make install

where <problem_scenarios_install_dir> is a directory of your choice.

Running ADVT on the problem scenarios

Configuring the OPPT environment

After successfully compiling ADVT and the problem scenarios, open a terminal and run

source <problem_scenarios_install_dir>/share/oppt/setup.sh

Note that this command must be executed whenever a new terminal window is used. Alternatively, append this command to your ~/.bashrcfile.

Running ADVT

After configuring the OPPT environment as described above, navigate to the ADVT/bin folder and execute

./advt --cfg <ADVT_INSTALL>/ProblemScenarios/cfg/<ProblemScenario>.cfg

where <ADVT_INSTALL> is the folder the repository was cloned into and <ProblemScenario> is the configuration file for a specific problem scenario (see ProblemScenarios/cfg).

After running ADVT on a problem scenario, a log file is generated in the ADVT/bin/log directory which contains a summary of the simulation run.

studybox/ADVT