LTL Optimal Multi-Agent Planner (LOMAP)

LTL Optimal Multi-Agent Planner (LOMAP) is a python package for automatic planning of optimal paths for multi-agent systems. See the directory 'examples' (either in the source archive or in the installation directory) for examples.

Installation Instructions

Linux (Ubuntu)

Clone the lomap repository

Navigate to desired location
Run the following line in shell:

git clone https://github.com/wasserfeder/lomap.git

Install Spot using Debian Packages (https://spot.lrde.epita.fr/install.html)

Run the following lines in shell:

wget -q -O - https://www.lrde.epita.fr/repo/debian.gpg | sudo apt-key add -
sudo sh -c "echo 'deb http://www.lrde.epita.fr/repo/debian/ stable/' >> /etc/apt/sources.list"
sudo apt update
sudo apt install spot libspot-dev spot-doc
sudo apt install python3-spot # For python3 support

Install necessary dependencies:

Run the following lines in shell:

sudo apt install python-pip
pip install six
pip install matplotlib
pip install numpy
sudo apt install python-tk
pip install networkx==1.11
pip install pyyaml
pip install pp # Optional
apt install cmake

Note: Ensure that Python 2.7 is installed.
Note: If Python3, install matplotlib==2.2.3 in order to maintain compatibility with network 1.11
Note: If Python3, there is not easy way to install pp package.

Download and unpack ltl2dstar

Download from: https://www.ltl2dstar.de/
Unpack ltl2dstar
Navigate to the ltl2dstar folder

Run the following lines in shell:

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

Optionally add the binary to folder in PATH

For example:

mkdir ~/bin
cp ltl2dstar ~/bin/
echo 'export PATH="$PATH:$HOME/bin"' >> ~/.bashrc

Set $PYTHONPATH to include the location of the lomap library:

Run the following line in shell:

export PYTHONPATH="${PYTHONPATH}:/path/to/lomap"

Optionally make this setting persistent:

echo 'export PYTHONPATH="${PYTHONPATH}:/path/to/lomap"' >> ~/.bashrc

Test if the setup worked properly:

Navigate to /lomap/lomap/tests
Run any of the Python test files
- Ex. python test_automata.py

Common Issues:

   ImportError: No module named lomap.classes

Problem: The lomap library is not in the path variable PYTHONPATH

Possible Solution: Manually add lomap to your Python directory

cd <lomap_directory>
export PYTHONPATH="$PYTHONPATH:$PWD"

   File "/usr/bin/pip", line 9, in <module>
   from pip import main
   ImportError: cannot import name main

Problem: Wrong version of pip (are using Python 3 pip)
Solution: Run commands with pip2

AttributeError: 'Graph' object has no attribute 'nodes_iter' (or other graph issues)

Problem: Wrong version of networkx installed
Solution: Uninstall networkx and install networkx1.11 (see above)

Todo List:

Copyright and Warranty Information

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

A copy of the GNU General Public License is included in this distribution, in a file called 'license.txt'.

trigger1996/lomap_learning_representation

LTL Optimal Multi-Agent Planner (LOMAP)

Installation Instructions

Common Issues:

Todo List:

Copyright and Warranty Information