The MAPF Instance Generator is a tool for generating instances of the Multi-Agent Path Finding (MAPF) problem in the lightweight MAPF instance format. It is designed to help students and researchers create custom MAPF instances for testing and benchmarking purposes.
Requires Conda to be installed.
To install download this repository and run conda env create --file reqs.yml from the main folder. This will create a new environment called "gen" and install all required packages. Please remember to activate the correct environment using conda activate gen to be able to use the generator.
usage: python gen.py (empty | maze | random -c [0-100] | room -w WIDTH | warehouse -w WIDTH) -s SIZE -a AGENTS [-d DISTANCE] [-dir DIRECTORY] [-dur MINDUR MAXDUR] [-m] [-suf SUFFIX] [-t TIMEOUT] [-v] [-h] [-q]
positional arguments:
{empty, maze, random, room, warehouse, *.jpg, *.png, *.lp}
type of instance to be generated, path to image to be converted or path to instance to be loaded
optional arguments:
-h, --help show this help message and exit
-a AGENTS, --agents AGENTS number of agents
-acyc, --acyclicity checks acyclicity
--allSPs generates all shortest paths instead of one
-c [0-100], --cover [0-100] percentage of vertices covered (default=75)
-d DISTANCE, --distance DISTANCE min. manhatten distance from start to goal
-dir DIRECTORY --directory DIRECTORY sets directory
-dur MINDUR MAXDUR, --durations MINDUR MAXDUR generates instances with durations
-m, --makespan searches for minimal makespan
-q, --quiet turns on quiet mode
-sp, --shortest_paths searches for shortest paths
-suf SUFFIX, --suffix SUFFIX appends suffix to filename
-t, --timeout sets a timeout in seconds
-v, --visualize convert to and visualize with asprilo
-w WIDTH, --width WIDTH width of rooms / shelves (default=5)
required arguments for all instance types:
-s X-SIZE Y-SIZE, --size X-SIZE Y-SIZE size of instance
python gen.py empty -s 10 10 -a 5 -dur 1 5 generates an empty 10x10 instance with 5 agents and random durations between 1 and 5 of the edges.
python gen.py maze -s 10 10 -a 5 -dir "mazes" generates a 10x10 maze instance with 5 agents and saves it in the directory "mazes".
python gen.py random -s 10 10 -a 5 -c 55 generates a 10x10 random instance with 5 agents where 55% of the space is covered by nodes resulting in 45% being random obstacles.
python gen.py room -s 10 10 -a 5 -w 5 generates a 10x10 room instance with 5 agents where every room has a size of 5x5 nodes.
python gen.py instance.lp -a 12 changes the number of agents of an instance to 12.
The -m option saves the minimal makespan in a seperate meta file.
The -sp option saves the shortest path in a seperate file.
The -acyc option checks if the instance is solvable without any of the agents performing cycles. If so the fact acyclic. is added to the meta file.
-t 600 sets a 10 minutes timeout for the generation.
Use -q to have no status output at all
To automatically visualize the instance at the end of the process use the -v option.
To visualize the instances at a later time use the asprilo visualizer with the converter: mif_to_asprilo.lp like this: clingo instance.lp mif_to_asprilo.lp | viz