add experimental scripts

exp_scripts/exp3_assignment_brc202d.sh

@@ -0,0 +1,42 @@
+#!/bin/sh
+map="brc202d.map"
+agents_list="100 500 1000 2000"
+
+flocking_blocks=0
+scen_start=1
+scen_end=50
+force=0
+
+set -e
+
+# bottleneck-linear
+solver="TSWAP -m 0"
+sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force
+
+# bottleneck-linear without lazy evaluation
+solver="TSWAP -m 1"
+sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force
+
+# bottleneck
+solver="TSWAP -m 2"
+sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force
+
+# linear
+solver="TSWAP -m 3"
+sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force
+
+# greedy
+solver="TSWAP -m 4"
+sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force
+
+# greedy with refinement
+solver="TSWAP -m 5"
+sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force
+
+# greedy with refinement without lazy evaluation
+solver="TSWAP -m 6"
+sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force
+
+# greedy with refinement for sum-of-costs
+solver="TSWAP -m 7"
+sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force

exp_scripts/exp3_assignment_den520d.sh

@@ -0,0 +1,42 @@
+#!/bin/sh
+map="den520d.map"
+agents_list="100 500 1000 2000"
+
+flocking_blocks=0
+scen_start=1
+scen_end=50
+force=1
+
+set -e
+
+# bottleneck-linear
+solver="TSWAP -m 0"
+sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force
+
+# bottleneck-linear without lazy evaluation
+solver="TSWAP -m 1"
+sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force
+
+# bottleneck
+solver="TSWAP -m 2"
+sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force
+
+# linear
+solver="TSWAP -m 3"
+sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force
+
+# greedy
+solver="TSWAP -m 4"
+sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force
+
+# greedy with refinement
+solver="TSWAP -m 5"
+sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force
+
+# greedy with refinement without lazy evaluation
+solver="TSWAP -m 6"
+sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force
+
+# greedy with refinement for sum-of-costs
+solver="TSWAP -m 7"
+sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force

exp_scripts/exp3_assignment_lak303d.sh

@@ -0,0 +1,42 @@
+#!/bin/sh
+map="lak303d.map"
+agents_list="100 500 1000 2000"
+
+flocking_blocks=0
+scen_start=1
+scen_end=50
+force=1
+
+set -e
+
+# # bottleneck-linear
+# solver="TSWAP -m 0"
+# sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force
+
+# # bottleneck-linear without lazy evaluation
+# solver="TSWAP -m 1"
+# sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force
+
+# # bottleneck
+# solver="TSWAP -m 2"
+# sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force
+
+# linear
+solver="TSWAP -m 3"
+sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force
+
+# # greedy
+# solver="TSWAP -m 4"
+# sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force
+
+# # greedy with refinement
+# solver="TSWAP -m 5"
+# sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force
+
+# # greedy with refinement without lazy evaluation
+# solver="TSWAP -m 6"
+# sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force
+
+# # greedy with refinement for sum-of-costs
+# solver="TSWAP -m 7"
+# sh `dirname $0`/run.sh $map "$agents_list" "$solver" $scen_start $scen_end $flocking_blocks $force

readme.md

@@ -1,13 +1,13 @@
-unlabeled-MAPF
+tswap
 ===
 [![MIT License](http://img.shields.io/badge/license-MIT-blue.svg?style=flat)](LICENCE.txt)
 
 A simulator and visualizer of (offline) Unlabeled Multi-Agent Path Finding (unlabeled-MAPF), used in a paper ["Solving Simultaneous Target Assignment and Path Planning Efficiently with Time-Independent Execution"](https://arxiv.org/abs/2109.04264) (TSWAP).
-It is written in C++(17) with [CMake](https://cmake.org/) build and tested on MacOS 10.15.
-The repository uses [Google Test](https://github.com/google/googletest).
-The visualizer uses [openFrameworks](https://openframeworks.cc).
 
-The implementations include: the makespan optimal algorithm [1] and TSWAP (sub-optimal, complete).
+- It is written in C++(17) with [CMake](https://cmake.org/) build and tested on MacOS 10.15.
+- The repository uses [Google Test](https://github.com/google/googletest).
+- The visualizer uses [openFrameworks](https://openframeworks.cc).
+- The implementations include: the makespan optimal algorithm [1] and TSWAP (sub-optimal, complete).
 
 | platform | status (public) | status (dev) |
 | ---: | :--- |:--- |

unlabeled_mapf/src/lib_ga.cpp

@@ -160,7 +160,7 @@ void LibGA::Matching::solveBySuccessiveShortestPath()
   auto compare = [&](DijkstraNode* v, DijkstraNode* u) { return v->d > u->d; };
 
   // avoid "new" operation
-  const int MEMORY_SIZE = N * 20;
+  const int MEMORY_SIZE = N * 40;
   DijkstraNode GC[MEMORY_SIZE];
 
   for (int _i = 0; _i < N; ++_i) {