Multi-agent (path finding) planning framework

Related tags

Machine learning mapf
Overview

multi-agent (path finding) planning framework

Mapf is a (currently experimental) Rust library for multi-agent planning, with a focus on cooperative path finding.

This repo is just getting started, so please bear with us for a while as we work towards making useful tools.

This is being developed as part of the Open-RMF project which provides an open source framework for enabling interoperability between heterogeneous fleets of mobile robots, including cooperation across different platforms and vendors.

Comments
  • Update cached version dependency

    Update cached version dependency

    Bug fix

    Fixed bug

    The old version of cached didn't support wasm builds, hence update to the newest version.

    Fix applied

    Ref here for an end to end test with and without this branch (wasm CI fails unless we use this specific branch). A followup PR should probably add web and windows CIs to mapf to make sure this doesn't happen again

    opened by luca-della-vedova 0
  • Updates the GAT syntax

    Updates the GAT syntax

    As per https://github.com/rust-lang/rust/issues/89122, GATs no longer use the type Typename<'a> where Self: 'a = ... syntax rather they move the where to the end.

    This PR also fixes lifetimes. Seems like the type_alias_impl_trait requires you to specify a lifetime.

    Signed-off-by: Arjo Chakravarty [email protected]

    opened by arjo129 0
  • Should `TimePoint` be private?

    Should `TimePoint` be private?

    Feature request

    Description

    I notice that mapf::motion::Timepoint is private. This means if an external user wants to query the TimePoint he or she will have to depend on the crate timepoint at the exact same version as we are depending on it, otherwise it will not be possible to perform arbitrary queries on the Motion trait of a trajectory.

    enhancement 
    opened by arjo129 0
  • Fix compile issue

    Fix compile issue

    Currently the main branch fails to compile with the following error:

     --> /home/arjo/workspaces/rust/mapf/mapf/src/occupancy/mod.rs:159:14
    |
159 |         self.set_bit(corner.into(), status);
    |              ^^^^^^^ method not found in `&mut CornerStatus`
    |
    = help: items from traits can only be used if the trait is in scope
help: the following trait is implemented but not in scope; perhaps add a `use` for it:
    |
18  | use bitfield::BitMut;
    |

    This tiny commit applies the above change. I will follow this up with a github ci action to check we don't break the main branch.

    Signed-off-by: Arjo Chakravarty [email protected]

    P.S. I don't have access rights to this repo and hence had to create a fork,

    opened by arjo129 0
  • Documentation of MAPF algorithms used here

    Documentation of MAPF algorithms used here

    Feature request

    I would like to read more documentation about MAPF algorithms implemented/WIP/to-be-implemented in the Open-RMF.

    Description

    At the moment I could not find any documentation besides the code in this repository. Will these be Rust-only implementations, or will it be possible to implement algorithms in C/C++/Python, for example?

    enhancement 
    opened by ljaniec 0
  • What is the reasoning behind using Rust?

    What is the reasoning behind using Rust?

    I am curious as to what is the reason behind using rust for the multi agent path planning framework? I am very new to rust and this is rather interesting. Is it going to be a standalone application to develop path planners?

    opened by ajithcodesit 0
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