Solving Anonymous Multi-Agent Path Finding Problem with Disappearing Agents (AMAPFD) problem with Sum-Of-Cost (SOC) cost function.

Solve AMAPFD problem using Minimum Cost Maximum Flow (MCMF) with General Bulk-Search (GBS) algorithm over A* algorithm for finding the solution with minimal Sum-Of-Cost.

The code is written with 'light' level of comments. However, it maintains the flow and notations of the paper.

Folders

1. data contains the maps.
2. results where to store the results.

Build and Run

The package was tested and run on Ubuntu 22.04.2.
Build the package by:

mkdir build
cd build
cmake ..
make

All tests used in the paper (all MAPF maps, all scenarios, the number of agents changes by the sequence 1,2,3,4,5,6,7,8,9,10,50,100,150,...,min(1000, max_number_of_agents)), are hard-coded in the main function, and ready to run.

Run the program by the command:

./amapfd_soc_mcmf_gbs_astar

Results

The data of the SOC-optimal solution of each instance are logged in a csv-style file (results/results.csv).