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Run.cs
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using System;
using System.Linq;
using System.Collections.Generic;
using System.Diagnostics;
using System.IO;
using System.Collections;
namespace CPF_experiment
{
/// <summary>
/// This class is responsible for running the experiments.
/// </summary>
public class Run : IDisposable
{
////////debug
// public static TextWriter resultsWriterdd;
/////////////
/// <summary>
/// Delimiter character used when writing the results of the runs to the output file.
/// </summary>
public static readonly string RESULTS_DELIMITER = ",";
public static readonly int SUCCESS_CODE = 1;
public static readonly int FAILURE_CODE = 0;
/// <summary>
/// Number of random steps performed when generating a new problem instance for choosing a start-goal pair.
/// </summary>
public static int RANDOM_WALK_STEPS = 100000;
/// <summary>
/// Indicates the starting time in ms for timing the different algorithms.
/// </summary>
private double startTime;
/// <summary>
/// This hold an open stream to the results file.
/// </summary>
private TextWriter resultsWriter;
/// <summary>
/// EH: I introduced this variable so that debugging and experiments
/// can have deterministic results.
/// </summary>
static public Random rand = new Random();
/// <summary>
/// Calls resultsWriter.Dispose()
/// </summary>
protected virtual void Dispose(bool dispose_managed)
{
if (dispose_managed)
{
if (this.resultsWriter != null)
{
this.resultsWriter.Dispose();
this.resultsWriter = null;
}
}
}
public void Dispose() {
this.Dispose(true);
GC.SuppressFinalize(this);
}
/// <summary>
/// Open the results file for output. Currently the file is opened in append mode.
/// </summary>
/// <param name="fileName">The name of the results file</param>
public void OpenResultsFile(string fileName)
{
this.resultsWriter = new StreamWriter(fileName, true); // 2nd argument indicates the "append" mode
}
/// <summary>
/// Closes the results file.
/// </summary>
public void CloseResultsFile()
{
this.resultsWriter.Close();
}
/// <summary>
/// all types of algorithms to be run
/// </summary>
List<ISolver> solvers;
/// <summary>
/// all types of heuristics used
/// </summary>
public List<HeuristicCalculator> heuristics; // FIXME: Make unpublic again later
/// <summary>
/// Counts the number of times each algorithm went out of time consecutively
/// </summary>
public int[] outOfTimeCounters;
/// <summary>
/// Construct with chosen algorithms.
/// </summary>
public Run()
{
this.watch = Stopwatch.StartNew();
// Preparing the heuristics:
heuristics = new List<HeuristicCalculator>();
var sic = new SumIndividualCosts();
heuristics.Add(sic);
var astar = new ClassicAStar(sic);
var cbs = new CBS_LocalConflicts(astar, astar, -1);
var astar_with_od = new AStarWithOD(sic);
var astar_with_partial_expansion = new AStarWithPartialExpansion(sic);
var epea = new AStarWithPartialExpansion(sic);
var macbsLocal5Epea = new CBS_LocalConflicts(astar, epea, 5);
var macbsLocal50Epea = new CBS_LocalConflicts(astar, epea, 50);
var cbsHeuristic = new CbsHeuristic(cbs, this);
var cbsHeuristicNoSolve1 = new CbsHeuristic(cbs, this, false, 1);
var cbsHeuristicNoSolve2 = new CbsHeuristic(cbs, this, false, 2);
var cbsHeuristicNoSolve3 = new CbsHeuristic(cbs, this, false, 3);
var cbsHeuristicNoSolve4 = new CbsHeuristic(cbs, this, false, 4);
var cbsHeuristicNoSolve5 = new CbsHeuristic(cbs, this, false, 5);
var cbsHeuristicNoSolve6 = new CbsHeuristic(cbs, this, false, 6);
var cbsHeuristicSolve1 = new CbsHeuristic(cbs, this, true, 1);
var cbsHeuristicSolve2 = new CbsHeuristic(cbs, this, true, 2);
var cbsHeuristicSolve3 = new CbsHeuristic(cbs, this, true, 3);
var cbsHeuristicSolve4 = new CbsHeuristic(cbs, this, true, 4);
var cbsHeuristicSolve5 = new CbsHeuristic(cbs, this, true, 5);
var cbsHeuristicSolve6 = new CbsHeuristic(cbs, this, true, 6);
//var sicOrCbsh6 = new RandomChoiceOfHeuristic(cbsHeuristicSolve6, sic, 1.0 / 5);
//var dynamicLazyCbsh = new DyanamicLazyCbsh(cbs, this, true);
//heuristics.Add(dynamicLazyCbsh);
//var dynamicLazyMacbsLocal5EpeaH = new DyanamicLazyCbsh(macbsLocal5Epea, this, true);
//heuristics.Add(dynamicLazyMacbsLocal5EpeaH);
//var dynamicLazyMacbsLocal50EpeaH = new DyanamicLazyCbsh(macbsLocal50Epea, this, true);
//heuristics.Add(dynamicLazyMacbsLocal50EpeaH);
//var dynamicLazyMacbsLocal5EpeaHForOracleMustBeLast = new DyanamicLazyCbsh(macbsLocal5Epea, this, true);
//heuristics.Add(dynamicLazyMacbsLocal5EpeaHForOracleMustBeLast);
// Preparing the solvers:
solvers = new List<ISolver>();
//solvers.Add(new CBS_GlobalConflicts(astar, epea, -1, false, false, false, true, false, false, false)); // CBS/EPEA*
//solvers.Add(new CBS_GlobalConflicts(astar, epea, -1, false, true, false, true, false, false, true, 1)); // CBS/EPEA* with first-fit adoption 1 expansions max
//solvers.Add(new CBS_GlobalConflicts(astar, epea, -1, false, true, false, true, false, false, true, 256)); // CBS/EPEA* with first-fit adoption 256 expansions max
//solvers.Add(new CBS_GlobalConflicts(astar, epea, -1, false, true, false, true, false, false, true, int.MaxValue)); // CBS/EPEA* with first-fit adoption infinity expansions max
// B is actually set according to the map in a hack elsewhere
//IJCAI:
//soldier: solvers.Add(new CBS_LocalConflicts(astar, epea, -1, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
//soldier: CBS_LocalConflicts.ConflictChoice.MOST_CONFLICTING, false, false)); // CBS/EPEA*
//soldier: solvers.Add(new CBS_LocalConflicts(astar, epea, -1, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
//soldier: CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false)); // CBS/EPEA* Cardinal using MDDs
//soldier:
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 2, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
// CBS_LocalConflicts.ConflictChoice.FIRST, false, false, int.MaxValue, false)); // MA-CBS(2)/EPEA*
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 4, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
// CBS_LocalConflicts.ConflictChoice.FIRST, false, false, int.MaxValue, false)); // MA-CBS(4)/EPEA*
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 8, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
// CBS_LocalConflicts.ConflictChoice.FIRST, false, false, int.MaxValue, false)); // MA-CBS(8)/EPEA*
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 16, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
// CBS_LocalConflicts.ConflictChoice.FIRST, false, false, int.MaxValue, false)); // MA-CBS(16)/EPEA*
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 32, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
// CBS_LocalConflicts.ConflictChoice.FIRST, false, false, int.MaxValue, false)); // MA-CBS(32)/EPEA*
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 64, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
// CBS_LocalConflicts.ConflictChoice.FIRST, false, false, int.MaxValue, false)); // MA-CBS(32)/EPEA*
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 50, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
// CBS_LocalConflicts.ConflictChoice.FIRST, false, false, int.MaxValue, false)); // MA-CBS(50)/EPEA*
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 128, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
// CBS_LocalConflicts.ConflictChoice.FIRST, false, false, int.MaxValue, false)); // MA-CBS(128)/EPEA*
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 256, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
// CBS_LocalConflicts.ConflictChoice.FIRST, false, false, int.MaxValue, false)); // MA-CBS(256)/EPEA*
//solvers.Add(new IndependenceDetection(astar, new CBS_GlobalConflicts(
// astar, epea, 5, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
// CBS_LocalConflicts.ConflictChoice.FIRST, false, false, int.MaxValue, false), sic)); // MA-CBS(5)/EPEA* + ID.
//solvers.Add(new IndependenceDetection(astar, new CBS_GlobalConflicts(
// astar, epea, 10, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
// CBS_LocalConflicts.ConflictChoice.FIRST, false, false, int.MaxValue, false), sic)); // MA-CBS(10)/EPEA* + ID.
//solvers.Add(new IndependenceDetection(astar, new CBS_GlobalConflicts(
// astar, epea, 25, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
// CBS_LocalConflicts.ConflictChoice.FIRST, false, false, int.MaxValue, false), sic)); // MA-CBS(25)/EPEA* + ID.
//solvers.Add(new IndependenceDetection(astar, new CBS_GlobalConflicts(
// astar, epea, 100, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
// CBS_LocalConflicts.ConflictChoice.FIRST, false, false, int.MaxValue, false), sic)); // MA-CBS(100)/EPEA* + ID.
//solvers.Add(new IndependenceDetection(astar, new CBS_GlobalConflicts(
// astar, epea, 150, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
// CBS_LocalConflicts.ConflictChoice.FIRST, false, false, int.MaxValue, false), sic)); // MA-CBS(100)/EPEA* + ID.
//solvers.Add(new IndependenceDetection(astar, new CBS_GlobalConflicts(
// astar, epea, 200, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
// CBS_LocalConflicts.ConflictChoice.FIRST, false, false, int.MaxValue, false), sic)); // MA-CBS(100)/EPEA* + ID.
//solvers.Add(new IndependenceDetection(astar, new CBS_GlobalConflicts(
// astar, epea, 300, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
// CBS_LocalConflicts.ConflictChoice.FIRST, false, false, int.MaxValue, false), sic)); // MA-CBS(100)/EPEA* + ID.
//solvers.Add(new IndependenceDetection(astar, new CBS_GlobalConflicts(
// astar, epea, 500, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
// CBS_LocalConflicts.ConflictChoice.FIRST, false, false, int.MaxValue, false), sic)); // MA-CBS(100)/EPEA* + ID.
//solvers.Add(new IndependenceDetection(astar, new CBS_GlobalConflicts(
// astar, epea, 5, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
// CBS_LocalConflicts.ConflictChoice.FIRST, false, false, int.MaxValue, true),
// sic)); // MA-CBS(B)/EPEA* + ID + restart
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 5, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
// CBS_LocalConflicts.ConflictChoice.MOST_CONFLICTING, false, false, int.MaxValue, false)); // MA-CBS(5)/EPEA*
//solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
// CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false)); // MA-CBS(5)/EPEA* Cardinal using MDDs
//solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
// CBS_LocalConflicts.ConflictChoice.CARDINAL_LOOKAHEAD, false, false)); // MA-CBS(5)/EPEA* Cardinal not using MDDs
//soldier: solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
// CBS_LocalConflicts.ConflictChoice.FIRST, false, false, int.MaxValue, true)); // MA-CBS(5)/EPEA* + restart
//solvers.Add(new CBS_LocalConflicts(astar, epea, 64, false, CBS_LocalConflicts.BypassStrategy.NONE, false,
// CBS_LocalConflicts.ConflictChoice.FIRST, false, false, int.MaxValue, true)); // MA-CBS(64)/EPEA* + restart
//soldier: solvers.Add(new CBS_LocalConflicts(astar, epea, -1, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
//soldier: false, CBS_LocalConflicts.ConflictChoice.FIRST, false, false, 1)); // CBS/EPEA* + BP1
//soldier:solvers.Add(new CBS_GlobalConflicts(astar, epea, -1, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
//soldier: false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1)); // CBS/EPEA* + CARDINAL + BP1
//solvers.Add(new CBS_GlobalConflicts(astar, epea, -1, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, false)); // CBS + CARDINAL (lookahead) + BP1
//solvers.Add(new IndependenceDetection(astar, new CBS_GlobalConflicts(astar, epea, -1, false,
// CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, false), sic)); // CBS + CARDINAL + BP1 + ID
//solvers.Add(new CBS_GlobalConflicts(astar, epea, -1, false, CBS_LocalConflicts. ,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_LOOKAHEAD, false, false, 1)); // CBS/EPEA* Cardinal not using MDDs + BP1
//solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.MOST_CONFLICTING, false, false, 1)); // MA-CBS(B)/EPEA* + BP1
//solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1)); // MA-CBS(B)/EPEA* Cardinal using MDDs + BP1
//solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_LOOKAHEAD, false, false, 1)); // MA-CBS(B)/EPEA* Cardinal not using MDDs + BP1
//soldier:
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 2, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, true)); // MA-CBS(2)/EPEA* + cardinal + BP1 + restart
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 4, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, true)); // MA-CBS(4)/EPEA* + cardinal + BP1 + restart
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 5, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, true)); // MA-CBS(5)/EPEA* + cardinal + BP1 + restart
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 8, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, true)); // MA-CBS(8)/EPEA* + cardinal + BP1 + restart
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 16, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, true)); // MA-CBS(16)/EPEA* + cardinal + BP1 + restart
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 25, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD, false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, true)); // MA-CBS(25)/EPEA* + cardinal + BP1 + restart, AKA ICBS(25)
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 32, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, true)); // MA-CBS(32)/EPEA* + cardinal + BP1 + restart
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 50, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, true)); // MA-CBS(50)/EPEA* + cardinal + BP1 + restart
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 64, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, true)); // MA-CBS(64)/EPEA* + cardinal + BP1 + restart
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 128, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, true)); // MA-CBS(128)/EPEA* + cardinal + BP1 + restart
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 256, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, true)); // MA-CBS(256)/EPEA* + cardinal + BP1 + restart
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 512, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, true)); // MA-CBS(512)/EPEA* + cardinal + BP1 + restart
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 1024, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, true)); // MA-CBS(1024)/EPEA* + cardinal + BP1 + restart
//solvers.Add(new IndependenceDetection(astar, new CBS_GlobalConflicts(astar, epea, 5, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, true), sic)); // MA-CBS(5)/EPEA* + cardinal + BP1 + restart + ID
//solvers.Add(new IndependenceDetection(astar, new CBS_GlobalConflicts(astar, epea, 10, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, true), sic)); // MA-CBS(10)/EPEA* + cardinal + BP1 + restart + ID
//solvers.Add(new IndependenceDetection(astar, new CBS_GlobalConflicts(astar, epea, 25, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, true), sic)); // MA-CBS(25)/EPEA* + cardinal + BP1 + restart + ID
//solvers.Add(new IndependenceDetection(astar, new CBS_GlobalConflicts(astar, epea, 100, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, true), sic)); // MA-CBS(100)/EPEA* + cardinal + BP1 + restart + ID
//solvers.Add(new IndependenceDetection(astar, new CBS_GlobalConflicts(astar, epea, 150, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, true), sic)); // MA-CBS(100)/EPEA* + cardinal + BP1 + restart + ID
//solvers.Add(new IndependenceDetection(astar, new CBS_GlobalConflicts(astar, epea, 200, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, true), sic)); // MA-CBS(100)/EPEA* + cardinal + BP1 + restart + ID
//solvers.Add(new IndependenceDetection(astar, new CBS_GlobalConflicts(astar, epea, 300, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, true), sic)); // MA-CBS(100)/EPEA* + cardinal + BP1 + restart + ID
//solvers.Add(new IndependenceDetection(astar, new CBS_GlobalConflicts(astar, epea, 500, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, true), sic)); // MA-CBS(100)/EPEA* + cardinal + BP1 + restart + ID
//solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// false, CBS_LocalConflicts.ConflictChoice.CARDINAL_MDD, false, false, 1, true)); // MA-CBS(B)/EPEA* Cardinal using MDDs + BP1 + restart
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 5, false, true, false, CBS_LocalConflicts.ConflictChoice.MOST_CONFLICTING, false, false, true, int.MaxValue)); // MA-CBS/EPEA* with first-fit adoption infinity expansions max
//solvers.Add(new IndependenceDetection(astar, new CBS_GlobalConflicts(astar, epea, 5, false, true, false, true, false, false, true, 1), sic)); // MA-CBS/EPEA* with first-fit adoption 1 expansions max + ID
//solvers.Add(new CBS_GlobalConflicts(astar, epea, 5, false, true, false, true, false, false, true, 256)); // MA-CBS/EPEA* with first-fit adoption 256 expansions max
//solvers.Add(new IndependenceDetection(astar, new CBS_GlobalConflicts(astar, epea, 5, false, true, false, true, false, false, true, int.MaxValue), sic)); // MA-CBS/EPEA* with first-fit adoption infinity expansions max + ID
//soldier: solvers.Add(epea); // EPEA*
//soldier: solvers.Add(new CostTreeSearchSolverOldMatching(3)); // ICTS
//solvers.Add(new IndependenceDetection(astar, epea, sic)); // EPEA* + ID
//solvers.Add(new IndependenceDetection(astar, new CostTreeSearchSolverOldMatching(3), sic)); // ICTS + ID
/*
solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, false, false, true, false, false, false)); // MACBS(5)/EPEA* - Works and is very fast so is a good choice for cost validation
solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, true, false, true, false, false, true, 1)); // MACBS(5)/EPEA* + adoption immediately
solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, true, false, true, false, false, true, int.MaxValue)); // MACBS(5)/EPEA* + adoption immediately infinite expansions
solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, true, false, true, false, false, true, 2)); // MACBS(5)/EPEA* + adoption immediately 2 expansions
solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, true, false, true, false, false, true, 4)); // MACBS(5)/EPEA* + adoption immediately 4 expansions
solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, true, false, true, false, false, true, 8)); // MACBS(5)/EPEA* + adoption immediately 8 expansions
solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, true, false, true, false, false, true, 16)); // MACBS(5)/EPEA* + adoption immediately 16 expansions
solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, true, false, true, false, false, true, 32)); // MACBS(5)/EPEA* + adoption immediately 32 expansions
solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, true, false, true, false, false, true, 64)); // MACBS(5)/EPEA* + adoption immediately 64 expansions
solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, true, false, true, false, false, true, 128)); // MACBS(5)/EPEA* + adoption immediately
solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, true, false, true, false, false, true, 256)); // MACBS(5)/EPEA* + adoption immediately
solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, true, false, true, false, false, true, int.MaxValue)); // MACBS(5)/EPEA* + adoption immediately infinite expansions
*/
//solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, true, false, true, false, false, false)); // MACBS(5)/EPEA* + infinite lookahead adoption
//solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, true, false, true, false, false, false, 4)); // MACBS(5)/EPEA* + 4 lookahead adoption
//solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, true, false, true, false, false, false, 8)); // MACBS(5)/EPEA* + 8 lookahead adoption
//solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, true, false, true, false, false, false, 16)); // MACBS(5)/EPEA* + 16 lookahead adoption
//solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, true, false, true, false, false, false, 32)); // MACBS(5)/EPEA* + 32 lookahead adoption
//solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, true, false, true, false, false, false, 64)); // MACBS(5)/EPEA* + 64 lookahead adoption
//solvers.Add(new CBS_LocalConflicts(astar, epea, -1, false, false, false, truesllslss, false, false, false)); // CBS/EPEA*
//solvers.Add(new CBS_LocalConflicts(astar, epea, -1, false, true, false, true, false, false)); // CBS+adoption
//solvers.Add(new CBS_LocalConflicts(astar, epea, -1, true, false, false, true, false, false)); // CBS+shuffle
//solvers.Add(new CBS_LocalConflicts(astar, epea, -1, false, true, false, true, false, true)); // CBS+MDD+adoption
//solvers.Add(new CBS_LocalConflicts(astar, epea, -1, true, false, false, true, false, true)); // CBS+MDD+shuffle
//solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, false, false, true, true)); // Simply tie break for more conflicts
//solvers.Add(new CBS_LocalConflicts(astar, epea, 5, false, false, false, false)); // MACBS(5) Find first conflict
//solvers.Add(new CBS_LocalConflicts(astar, epea, -1, false, false, false, false, false, false)); // CBS Find first conflict
//solvers.Add(new CBS_LocalConflicts(astar, epea, -1)); // Works and is very fast so is a good choice for cost validation
//solvers.Add(new CBS_LocalConflicts(astar, epea, -1, true, false, false)); // shuffle
//solvers.Add(new CBS_LocalConflicts(astar, epea, -1, false, true, false)); // Adoption
//solvers.Add(new CBS_LocalConflicts(astar, epea, -1, false, false, true)); // Malte
//solvers.Add(new CBS_LocalConflicts(epea, epea, -1));
//solvers.Add(new CBS_GlobalConflicts(epea, epea, -1)); // Should be identical since no merging is done.
//solvers.Add(new CBS_LocalConflicts(epea, epea, 0));
//solvers.Add(new CBS_LocalConflicts(astar, epea, 0));
//solvers.Add(new CBS_GlobalConflicts(epea, epea, 0));
//solvers.Add(new CBS_LocalConflicts(epea, epea, 1));
//solvers.Add(new CBS_GlobalConflicts(epea, epea, 1));
//solvers.Add(new CBS_LocalConflicts(epea, epea, 5));
//solvers.Add(new CBS_LocalConflicts(astar, epea, 5));
//solvers.Add(new CBS_GlobalConflicts(epea, epea, 5));
//solvers.Add(new CBS_LocalConflicts(epea, epea, 10));
//solvers.Add(new CBS_LocalConflicts(epea, epea, 100));
//solvers.Add(new CBS_LocalConflicts(astar, epea, 100));
//solvers.Add(new CBS_GlobalConflicts(epea, epea, 100));
//solvers.Add(new CBS_LocalConflicts(epea, epea, 500));
//solvers.Add(new CBS_GlobalConflicts(epea, epea, 500));
//solvers.Add(new CBS_GlobalConflicts(astar_with_od, astar_with_od, -1)); // Should be identical since no merging is done.
//solvers.Add(new CBS_LocalConflicts(astar_with_od, astar_with_od, 0));
//solvers.Add(new CBS_LocalConflicts(astar, astar_with_od, 0));
//solvers.Add(new CBS_GlobalConflicts(astar_with_od, astar_with_od, 0));
//solvers.Add(new CBS_LocalConflicts(astar_with_od, astar_with_od, 1));
//solvers.Add(new CBS_GlobalConflicts(astar_with_od, astar_with_od, 1));
//solvers.Add(new CBS_LocalConflicts(astar_with_od, astar_with_od, 5));
//solvers.Add(new CBS_LocalConflicts(astar, astar_with_od, 5));
//solvers.Add(new CBS_GlobalConflicts(astar_with_od, astar_with_od, 5));
//solvers.Add(new CBS_LocalConflicts(astar_with_od, astar_with_od, 10));
//solvers.Add(new CBS_LocalConflicts(astar_with_od, astar_with_od, 100));
//solvers.Add(new CBS_LocalConflicts(astar, astar_with_od, 100));
//solvers.Add(new CBS_GlobalConflicts(astar_with_od, astar_with_od, 100));
//solvers.Add(new CBS_LocalConflicts(astar_with_od, astar_with_od, 500));
//solvers.Add(new CBS_GlobalConflicts(astar_with_od, astar_with_od, 500));
//solvers.Add(new ClassicAStar(sic, true)); // Works
//solvers.Add(new ClassicAStar(sic, true, false)); // rM*! Works
//solvers.Add(new ClassicAStar(sic, true, true)); // rM* shuffle! Works
//solvers.Add(new ClassicAStar(cbsHeuristic)); // Dont Work - problem with initiating
//solvers.Add(new AStarWithOD(sic)); // Works
//solvers.Add(new AStarWithOD(sic, true, false)); // rM*+OD!
//solvers.Add(new AStarWithOD(sic, true, true)); // rM*+OD shuffle!
//solvers.Add(new AStarWithPartialExpansionBasic(sic)); // Works
//solvers.Add(new AStarWithPartialExpansionBasic(cbsHeuristic));
//soldier: solvers.Add(new AStarWithPartialExpansion(sic)); // Works.
//solvers.Add(new AStarWithPartialExpansion(sic, true, false)); // EPErM*
//solvers.Add(new AStarWithPartialExpansion(sic, true, true)); // EPErM* shuffle
//soldier: solvers.Add(new CBS_LocalConflicts(astar, epea, 0)); // EPEA*+(S)ID
//solvers.Add(new ClassicAStar(cbsHeuristicSolve1));
//solvers.Add(new ClassicAStar(cbsHeuristicSolve2));
//solvers.Add(new ClassicAStar(cbsHeuristicSolve3));
//solvers.Add(new ClassicAStar(cbsHeuristicSolve4));
//solvers.Add(new ClassicAStar(cbsHeuristicSolve5));
//solvers.Add(new ClassicAStar(cbsHeuristicSolve6));
//solvers.Add(new ClassicAStar(cbsHeuristicNoSolve1));
//solvers.Add(new ClassicAStar(cbsHeuristicNoSolve2));
//solvers.Add(new ClassicAStar(cbsHeuristicNoSolve3));
//solvers.Add(new ClassicAStar(cbsHeuristicNoSolve4));
//solvers.Add(new ClassicAStar(cbsHeuristicNoSolve5));
//solvers.Add(new ClassicAStar(cbsHeuristicNoSolve6));
//solvers.Add(new ClassicAStar(sicOrCbsh6));
//solvers.Add(new AStarWithOD(cbsHeuristicSolve1));
//solvers.Add(new AStarWithOD(cbsHeuristicSolve2));
//solvers.Add(new AStarWithOD(cbsHeuristicSolve3));
//solvers.Add(new AStarWithOD(cbsHeuristicSolve4));
//solvers.Add(new AStarWithOD(cbsHeuristicSolve5));
//solvers.Add(new AStarWithOD(cbsHeuristicSolve6));
//solvers.Add(new AStarWithOD(cbsHeuristicNoSolve1));
//solvers.Add(new AStarWithOD(cbsHeuristicNoSolve2));
//solvers.Add(new AStarWithOD(cbsHeuristicNoSolve3));
//solvers.Add(new AStarWithOD(cbsHeuristicNoSolve4));
//solvers.Add(new AStarWithOD(cbsHeuristicNoSolve5));
//solvers.Add(new AStarWithOD(cbsHeuristicNoSolve6));
//solvers.Add(new AStarWithOD(sicOrCbsh6));
ClassicAStar solver;
// dynamic not rational lazy A*+OD/CBS/A*/SIC:
//solver = new AStarWithOD(sic);
//var dynamicLazyOpenList1 = new DynamicLazyOpenList(solver, dynamicLazyCbsh, this);
//solver.openList = dynamicLazyOpenList1;
//solvers.Add(solver);
// dynamic rational lazy A*+OD/CBS/A*/SIC:
//solver = new AStarWithOD(sic);
//var dynamicRationalLazyOpenList1 = new DynamicRationalLazyOpenList(solver, dynamicLazyCbsh, this);
//solver.openList = dynamicRationalLazyOpenList1;
//solvers.Add(solver);
// dynamic rational lazy MA-CBS-local-5/A*+OD/MA-CBS-local-5/EPEA*/SIC:
//solver = new AStarWithOD(sic);
//var dynamicRationalLazyOpenList3 = new DynamicRationalLazyOpenList(solver, dynamicLazyMacbsLocal5EpeaH, this);
//solver.openList = dynamicRationalLazyOpenList3;
//solvers.Add(new CBS_LocalConflicts(astar, solver, 5));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicSolve1));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicSolve2));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicSolve3));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicSolve4));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicSolve5));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicSolve6));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicNoSolve1));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicNoSolve2));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicNoSolve3));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicNoSolve4));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicNoSolve5));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicNoSolve6));
//solvers.Add(new AStarWithPartialExpansion(sicOrCbsh6));
// dynamic not rational lazy EPEA*/CBS/A*/SIC:
//solver = new AStarWithPartialExpansion(sic);
//var dynamicLazyOpenList2 = new DynamicLazyOpenList(solver, dynamicLazyCbsh, this);
//solver.openList = dynamicLazyOpenList2;
//solvers.Add(solver);
// dynamic rational lazy EPEA*/CBS/A*/SIC:
//solver = new AStarWithPartialExpansion(sic);
//var dynamicRationalLazyOpenList2 = new DynamicRationalLazyOpenList(solver, dynamicLazyCbsh, this);
//solver.openList = dynamicRationalLazyOpenList2;
//solvers.Add(solver);
/*
* soldiers:
// MA-CBS-local-5 / dynamic rational lazy EPEA* / MA-CBS-local-50 / EPEA* / SIC:
solver = new AStarWithPartialExpansion(sic);
var dynamicRationalLazyOpenList4 = new DynamicRationalLazyOpenList(solver, dynamicLazyMacbsLocal50EpeaH, this);
solver.openList = dynamicRationalLazyOpenList4;
solvers.Add(new CBS_LocalConflicts(astar, solver, 5));
// dynamic rational lazy EPEA* / MA-CBS-local-5 / EPEA* / SIC + (S)ID:
solver = new AStarWithPartialExpansion(sic);
var dynamicRationalLazyOpenList6 = new DynamicRationalLazyOpenList(solver, dynamicLazyMacbsLocal5EpeaH, this);
solver.openList = dynamicRationalLazyOpenList6;
solvers.Add(new CBS_LocalConflicts(astar, solver, 0));
*/
/*
//soldier: but can't handle 50 agents
// dynamic rational lazy EPEA* / MA-CBS-local-5 / EPEA* / SIC:
solver = new AStarWithPartialExpansion(sic);
var dynamicRationalLazyOpenList8 = new DynamicRationalLazyOpenList(solver, dynamicLazyMacbsLocal5EpeaH, this);
solver.openList = dynamicRationalLazyOpenList8;
solvers.Add(solver);
*/
//solvers.Add(new CostTreeSearchSolverNoPruning());
//solvers.Add(new CostTreeSearchSolverKMatch(2));
//solvers.Add(new CostTreeSearchSolverOldMatching(2));
//solvers.Add(new CostTreeSearchSolverRepeatedMatch(2));
//solvers.Add(new CostTreeSearchSolverKMatch(3));
////!@# USE ME
//solvers.Add(new CostTreeSearchSolverOldMatching(3)); // Use this parameter. Best according to paper. 3RE
//solvers.Add(new CostTreeSearchSolverRepeatedMatch(3));
//solvers.Add(new CostTreeSearchNoPruning());
//solvers.Add(new CostTreeSearchKMatch(2));
//solvers.Add(new CostTreeSearchOldMatching(2));
//solvers.Add(new CostTreeSearchRepatedMatch(2));
//solvers.Add(new CostTreeSearchKMatch(3));
//solvers.Add(new CostTreeSearchOldMatching(3));
//solvers.Add(new CostTreeSearchRepatedMatch(3));
//solvers.Add(new IndependenceDetection(new AStarWithPartialExpansion()));
//solvers.Add(new IndependenceDetection(new CBS_GlobalConflicts(new AStarWithPartialExpansion(), 1, 1)));
//solvers.Add(new IndependenceDetection(new CBS_GlobalConflicts(new AStarWithPartialExpansion(), 5, 5)));
//solvers.Add(new IndependenceDetection(new CBS_GlobalConflicts(new AStarWithPartialExpansion(), 10, 10)));
//solvers.Add(new IndependenceDetection(new CBS_GlobalConflicts(new AStarWithPartialExpansion(), 100, 100)));
//solvers.Add(new IndependenceDetection(new CBS_GlobalConflicts(new AStarWithPartialExpansion(), 500, 500)));
//solvers.Add(new IndependenceDetection(new CBS_GlobalConflicts(new ClassicAStar())));
//solvers.Add(new IndependenceDetection(new CBS_GlobalConflicts(new ClassicAStar(), 1, 1)));
//solvers.Add(new IndependenceDetection(new CBS_GlobalConflicts(new ClassicAStar(), 5, 5)));
//solvers.Add(new IndependenceDetection(new CBS_GlobalConflicts(new ClassicAStar(), 10, 10)));
//solvers.Add(new IndependenceDetection(new CBS_GlobalConflicts(new ClassicAStar(), 100, 100)));
//solvers.Add(new IndependenceDetection(new CBS_GlobalConflicts(new ClassicAStar(), 500, 500)));
//solvers.Add(new IndependenceDetection(new AStarWithPartialExpansionBasic()));
//solvers.Add(new IndependenceDetection(new AStarWithPartialExpansion()));
//solvers.Add(new IndependenceDetection(sic));
//solvers.Add(new IndependenceDetection());
//solvers.Add(new CBS_IDA(new ClassicAStar())); // Don't run! Uses must conds
//solvers.Add(new CBS_GlobalConflicts(new ClassicAStar())); // Works
//solvers.Add(new CBS_NoDD(new ClassicAStar()));
//solvers.Add(new CBS_NoDDb3(new ClassicAStar()));
//solvers.Add(new CBS_GlobalConflicts(new ClassicAStar(), 1, 1)); // Run this!
//solvers.Add(astar);
//solvers.Add(astar_with_od);
//solvers.Add(astar_with_partial_expansion);
//solvers.Add(new IndependenceDetection(sic)); // AStar + OD + ID
// MA-CBS-Global-10/(A*+OD/SIC) choosing the first conflict in CBS nodes
//solvers.Add(new CBS_GlobalConflicts(astar_with_od, astar_with_od, 10));
// MA-CBS-Local-10/(single:A*/SIC multi:A*+OD/SIC) choosing the first conflict in CBS nodes
//solvers.Add(new CBS_LocalConflicts(astar, astar_with_od, 10));
// Basic-CBS/(A*+OD/SIC) choosing the first conflict in CBS nodes
//solvers.Add(new CBS_LocalConflicts(astar_with_od, astar_with_od, -1));
// MA - CBS - Global - 10 / (EPEA */ SIC) choosing the first conflict in CBS nodes
solvers.Add(new CBS_GlobalConflicts(epea, epea, 10));
// MA - CBS - Local - 10 / (single: A */ SIC multi: EPEA */ SIC) choosing the first conflict in CBS nodes
//solvers.Add(new CBS_LocalConflicts(astar, epea, 10));
// Basic-CBS/(A*/SIC) choosing cardinal conflicts using lookahead
//solvers.Add(new CBS_LocalConflicts(astar, epea, -1, false, CBS_LocalConflicts.BypassStrategy.NONE, false, CBS_LocalConflicts.ConflictChoice.CARDINAL_LOOKAHEAD, false, false));
// Basic-CBS/(A*/SIC)+ID - Use ID, for single agent solve vith A*, for groups use Basic-CBS which will use A* (again) for single agent, and epea* for groups
//solvers.Add(new IndependenceDetection(astar, new CBS_LocalConflicts(astar, epea, -1, false, CBS_LocalConflicts.BypassStrategy.NONE, false, CBS_LocalConflicts.ConflictChoice.MOST_CONFLICTING, false, false), sic));
// ICTS 2RE
//solvers.Add(new CostTreeSearchSolverRepeatedMatch(2));
// ICTS + ID
solvers.Add(new IndependenceDetection(astar, new CostTreeSearchSolverOldMatching(3), sic));
// EPEA* + ID
solvers.Add(new IndependenceDetection(astar, astar_with_partial_expansion, sic));
outOfTimeCounters = new int[solvers.Count];
for (int i = 0; i < outOfTimeCounters.Length; i++)
{
outOfTimeCounters[i] = 0;
}
}
/// <summary>
/// Generates a problem instance, including a board, start and goal locations of desired number of agents
/// and desired precentage of obstacles
/// TODO: Refactor to use operators.
/// </summary>
/// <param name="gridSize"></param>
/// <param name="agentsNum"></param>
/// <param name="obstaclesNum"></param>
/// <returns></returns>
public ProblemInstance GenerateProblemInstance(int gridSize, int agentsNum, int obstaclesNum)
{
/**
* Randomization based on timer is disabled for purposes of getting
* reproducible experiments.
*/
//Random rand = new Random();
Debug.WriteLine(string.Format("Generating instance with {0} agents, {1} obstacles of size {2}", agentsNum, obstaclesNum, gridSize));
if (agentsNum + obstaclesNum + 1 > gridSize * gridSize)
throw new Exception("Not enough room for " + agentsNum + ", " + obstaclesNum + " and one empty space in a " + gridSize + "x" + gridSize + "map.");
int x;
int y;
Agent[] aGoals = new Agent[agentsNum];
AgentState[] aStart = new AgentState[agentsNum];
bool[][] grid = new bool[gridSize][];
bool[][] goals = new bool[gridSize][];
for (int i = 0; i < gridSize; i++)
{
grid[i] = new bool[gridSize];
goals[i] = new bool[gridSize];
}
// Generate random obstacles on grid
for (int i = 0; i < obstaclesNum; i++)
{
x = rand.Next(gridSize);
y = rand.Next(gridSize);
if (grid[x][y]) // Already an obstacle
i--;
grid[x][y] = true;
}
// Choose random goal locations
for (int i = 0; i < agentsNum; i++)
{
x = rand.Next(gridSize);
y = rand.Next(gridSize);
if (goals[x][y] || grid[x][y]) // Already an obstacle or goal
i--;
else
{
goals[x][y] = true;
aGoals[i] = new Agent(x, y, i);
}
}
// Select random start/goal locations for every agent by performing a random walk
for (int i = 0; i < agentsNum; i++)
{
aStart[i] = new AgentState(aGoals[i].Goal.x, aGoals[i].Goal.y, aGoals[i]);
}
// Initialized here only for the IsValid() call. TODO: Think how this can be sidestepped elegantly.
ProblemInstance problem = new ProblemInstance();
problem.Init(aStart, grid);
for (int j = 0; j < RANDOM_WALK_STEPS; j++)
{
for (int i = 0; i < agentsNum; i++)
{
goals[aStart[i].lastMove.x][aStart[i].lastMove.y] = false; // We're going to move the goal somewhere else
while (true)
{
Move.Direction op = (Move.Direction)rand.Next(0, 5); // TODO: fixme
aStart[i].lastMove.Update(op);
if (problem.IsValid(aStart[i].lastMove) &&
!goals[aStart[i].lastMove.x][aStart[i].lastMove.y]) // this spot isn't another agent's goal
break;
else
aStart[i].lastMove.setOppositeMove(); // Rollback
}
goals[aStart[i].lastMove.x][aStart[i].lastMove.y] = true; // Claim agent's new goal
}
}
// Zero the agents' timesteps
foreach (AgentState agentStart in aStart)
{
agentStart.lastMove.time = 0;
}
// TODO: There is some repetition here of previous instantiation of ProblemInstance. Think how to elegantly bypass this.
problem = new ProblemInstance();
problem.Init(aStart, grid);
return problem;
}
/// <summary>
/// Generates a problem instance based on a DAO map file.
/// TODO: Fix code dup with GenerateProblemInstance and Import later.
/// </summary>
/// <param name="agentsNum"></param>
/// <returns></returns>
public ProblemInstance GenerateDragonAgeProblemInstance(string mapFileName, int agentsNum)
{
Debug.WriteLine(string.Format("Generating instance with {0} agents", agentsNum));
TextReader input = new StreamReader(Path.Combine(Directory.GetCurrentDirectory(), mapFileName));
//"C:\\Users\\omri\\Projects\\study\\2019semB\\agentsPlanning\\MAPF\\bin\\Debug\\dao_maps\\den502d.map");
string[] lineParts;
string line;
line = input.ReadLine();
Debug.Assert(line.StartsWith("type octile"));
// Read grid dimensions
line = input.ReadLine();
lineParts = line.Split(' ');
Debug.Assert(lineParts[0].StartsWith("height"));
int maxX = int.Parse(lineParts[1]);
line = input.ReadLine();
lineParts = line.Split(' ');
Debug.Assert(lineParts[0].StartsWith("width"));
int maxY = int.Parse(lineParts[1]);
line = input.ReadLine();
Debug.Assert(line.StartsWith("map"));
bool[][] grid = new bool[maxX][];
char cell;
for (int i = 0; i < maxX; i++)
{
grid[i] = new bool[maxY];
line = input.ReadLine();
for (int j = 0; j < maxY; j++)
{
cell = line.ElementAt(j);
if (cell == '@' || cell == 'O' || cell == 'T' || cell == 'W' /* Water isn't traversable from land */)
grid[i][j] = true;
else
grid[i][j] = false;
}
}
int x;
int y;
Agent[] agentGoals = new Agent[agentsNum];
AgentState[] agentStates = new AgentState[agentsNum];
bool[][] goals = new bool[maxX][];
for (int i = 0; i < maxX; i++)
goals[i] = new bool[maxY];
// Choose random valid unclaimed goal locations
for (int i = 0; i < agentsNum; i++)
{
x = rand.Next(maxX);
y = rand.Next(maxY);
if (goals[x][y] || grid[x][y])
i--;
else
{
goals[x][y] = true;
agentGoals[i] = new Agent(x, y, i);
}
}
// Select random start/goal locations for every agent by performing a random walk
for (int i = 0; i < agentsNum; i++)
{
agentStates[i] = new AgentState(agentGoals[i].Goal.x, agentGoals[i].Goal.y, agentGoals[i]);
}
ProblemInstance problem = new ProblemInstance();
problem.parameters[ProblemInstance.GRID_NAME_KEY] = Path.GetFileNameWithoutExtension(mapFileName);
problem.Init(agentStates, grid);
for (int j = 0; j < RANDOM_WALK_STEPS; j++)
{
for (int i = 0; i < agentsNum; i++)
{
goals[agentStates[i].lastMove.x][agentStates[i].lastMove.y] = false; // We're going to move the goal somewhere else
// Move in a random legal direction:
while (true)
{
Move.Direction op = (Move.Direction)rand.Next(0, 5); // TODO: fixme
agentStates[i].lastMove.Update(op);
if (problem.IsValid(agentStates[i].lastMove) &&
!goals[agentStates[i].lastMove.x][agentStates[i].lastMove.y]) // This spot isn't another agent's goal
break;
else
agentStates[i].lastMove.setOppositeMove(); // Rollback
}
goals[agentStates[i].lastMove.x][agentStates[i].lastMove.y] = true; // Claim agent's new goal
}
}
// Zero the agents' timesteps
foreach (AgentState agentStart in agentStates)
agentStart.lastMove.time = 0;
return problem;
}
/// <summary>
/// Solve given instance with a list of algorithms
/// </summary>
/// <param name="instance">The instance to solve</param>
public bool SolveGivenProblem(ProblemInstance instance, string plan_fileName="")
{
//return; // add for generator
// Preparing a list of agent indices (not agent nums) for the heuristics' Init() method
List<uint> agentList = Enumerable.Range(0, instance.m_vAgents.Length).Select<int, uint>(x=> (uint)x).ToList<uint>(); // FIXME: Must the heuristics really receive a list of uints?
// Solve using the different algorithms
Debug.WriteLine("Solving " + instance);
this.PrintProblemStatistics(instance);
//double cr0 = instance.getConflictRation(0);
//double cr1 = instance.getConflictRation(1);
//Debug.WriteLine("Conflict ratio (first order): " + cr0);
//Debug.WriteLine("Conflict ratio (second order): " + cr1);
//this.resultsWriter.Write(cr0 + RESULTS_DELIMITER);
//this.resultsWriter.Write(cr1 + RESULTS_DELIMITER);
// Initializing all heuristics, whereever they're used
for (int i = 0; i < heuristics.Count; i++)
heuristics[i].init(instance, agentList);
int solutionCost = -1;
int firstSolverToSolveIndex = -1;
for (int i = 0; i < solvers.Count; i++)
{
if (outOfTimeCounters[i] < Constants.MAX_FAIL_COUNT) // After "MAX_FAIL_COUNT" consecutive failures of a given algorithm we stop running it.
// Assuming problem difficulties are non-decreasing, if it consistently failed on several problems it won't suddenly succeed in solving the next problem.
{
GC.Collect();
GC.WaitForPendingFinalizers();
//if (i != 2)
// continue;
//if (i == 1)
// ((ClassicAStar)solvers[i]).debug = true;
//if (i == 4)
// ((CBS_LocalConflicts)solvers[i]).debug = true;
//if (i == 4)
// ((CBS_LocalConflicts)((IndependenceDetection)solvers[i]).groupSolver).debug = true;
if (solvers[i].GetType() == typeof(CBS_LocalConflicts) || solvers[i].GetType() == typeof(CBS_GlobalConflicts))
{
if (((CBS_LocalConflicts)solvers[i]).mergeThreshold == 314159) // MAGIC NUMBER WHICH MAKES US ADJUST B according to map
{
string gridName = (string)instance.parameters[ProblemInstance.GRID_NAME_KEY];
if (gridName.StartsWith("den"))
((CBS_LocalConflicts)solvers[i]).mergeThreshold = 10;
else if (gridName.StartsWith("brc") || gridName.StartsWith("ost"))
((CBS_LocalConflicts)solvers[i]).mergeThreshold = 100;
}
}
if (
(solvers[i].GetType() == typeof(IndependenceDetection) &&
((IndependenceDetection)solvers[i]).groupSolver.GetType() == typeof(CBS_LocalConflicts)) ||
(solvers[i].GetType() == typeof(IndependenceDetection) &&
((IndependenceDetection)solvers[i]).groupSolver.GetType() == typeof(CBS_GlobalConflicts))
)
{
if (((CBS_LocalConflicts)((IndependenceDetection)solvers[i]).groupSolver).mergeThreshold == 314159) // MAGIC NUMBER SEE ABOVE
{
string gridName = (string)instance.parameters[ProblemInstance.GRID_NAME_KEY];
if (gridName.StartsWith("den"))
((CBS_LocalConflicts)((IndependenceDetection)solvers[i]).groupSolver).mergeThreshold = 10;
else if (gridName.StartsWith("brc") || gridName.StartsWith("ost"))
((CBS_LocalConflicts)((IndependenceDetection)solvers[i]).groupSolver).mergeThreshold = 100;
}
}
this.run(solvers[i], instance);
Console.WriteLine();
int solverSolutionCost = solvers[i].GetSolutionCost();
if (solverSolutionCost >= 0) // Solved successfully
{
Plan plan = solvers[i].GetPlan();
int planSize = plan.GetSize();
if (planSize < 10)
plan.PrintPlan();
else
Console.WriteLine("Plan is too long to print (" + planSize + " steps).");
if (!string.IsNullOrEmpty(plan_fileName))
{
plan.PrintPlanTo(plan_fileName);
}
outOfTimeCounters[i] = 0;
// Validate solution:
if (solutionCost == -1) // Record solution cost
{
solutionCost = solverSolutionCost;
firstSolverToSolveIndex = i;
}
else // Problem solved before
{
//Debug.Assert(solutionCost == solverSolutionCost,
// solvers[firstSolverToSolveIndex] + " solution cost is different than that of " + solvers[i]); // Assuming algs are supposed to find an optimal solution, this is an error.
//Debug.Assert(solvers[0].GetExpanded() == solvers[i].GetExpanded(), "Different Expanded");
//Debug.Assert(solvers[0].GetGenerated() == solvers[i].GetGenerated(), "Different Generated");
//Debug.Assert(solvers[0].GetSolutionDepth() == solvers[i].GetSolutionDepth(), "Depth Bug " + solvers[i]);
}
Console.WriteLine("+SUCCESS+ (:");
}
else
{
outOfTimeCounters[i]++;
Console.WriteLine("-FAILURE- ):");
}
}
else
PrintNullStatistics(solvers[i]);
Console.WriteLine();
}
this.ContinueToNextLine();
return solutionCost != -1;
}
///// <summary>
///// Solve given instance with a list of algorithms
///// </summary>
///// <param name="instance">The instance to solve</param>
//public void SolveGivenProblemIncrementally(ProblemInstance instance)
//{
// // Preparing a list of agent indices (not agent nums) for the heuristics' Init() method
// List<uint> agentList = Enumerable.Range(0, instance.m_vAgents.Length).Select(x => (uint)x).ToList(); // FIXME: Must the heuristics really receive a list of uints?
// AStarWithOD cooperativeAStar = new AStarWithOD();
// cooperativeAStar.Setup(instance, this);
// this.startTime = this.ElapsedMillisecondsTotal();
// double handlingStartTime = this.ElapsedMillisecondsTotal();
// double elapsedTime = 0;
// foreach (var agentIndex in Enumerable.Range(0, instance.m_vAgents.Length))
// {
// // Solve using the different algorithms
// Console.WriteLine($"Solving {instance} agent {agentIndex}");
// this.PrintProblemStatistics(instance);
// GC.Collect();
// GC.WaitForPendingFinalizers();
// this.startTime += this.ElapsedMillisecondsTotal() - handlingStartTime;
// bool solved = cooperativeAStar.AddOneAgent(agentIndex);
// elapsedTime = this.ElapsedMilliseconds();
// handlingStartTime = this.ElapsedMillisecondsTotal();
// if (solved)
// {
// Console.WriteLine("Total cost: {0}", cooperativeAStar.GetSolutionCost());
// Console.WriteLine("Solution depth: {0}", cooperativeAStar.GetSolutionDepth());
// }
// else
// {
// Console.WriteLine("Failed to solve");
// Console.WriteLine("Solution depth lower bound: {0}", cooperativeAStar.GetSolutionDepth());
// }
// Console.WriteLine();
// Console.WriteLine("Time In milliseconds: {0}", elapsedTime);
// this.PrintStatistics(instance, cooperativeAStar, elapsedTime + instance.shortestPathComputeTime, seed: 123);
// Console.WriteLine();
// int solverSolutionCost = cooperativeAStar.GetSolutionCost();
// if (solverSolutionCost >= 0) // Solved successfully
// {
// Plan plan = cooperativeAStar.GetPlan();
// int planSize = plan.GetSize();
// if (planSize < 50)
// plan.PrintPlan();
// else
// Console.WriteLine($"Plan is too long to print ({planSize} steps).");
// Console.WriteLine("+SUCCESS+ (:");
// }
// else
// {
// Console.WriteLine("-FAILURE- ):");
// break;
// }
// Console.WriteLine();
// this.ContinueToNextLine();
// }
//}
/// <summary>
/// Solve a given instance with the given solver
/// </summary>
/// <param name="solver">The solver</param>
/// <param name="instance">The problem instance that will be solved</param>
private void run(ISolver solver, ProblemInstance instance)
{
// Run the algorithm
bool solved;
Console.WriteLine("-----------------" + solver + "-----------------");
this.startTime = this.ElapsedMillisecondsTotal();
solver.Setup(instance, this);
solved = solver.Solve();
double elapsedTime = this.ElapsedMilliseconds();
if (solved)
{
Console.WriteLine("Total cost: {0}", solver.GetSolutionCost());
Console.WriteLine("Solution depth: {0}", solver.GetSolutionDepth());
}
else
{
Console.WriteLine("Failed to solve");
Console.WriteLine("Solution depth lower bound: {0}", solver.GetSolutionDepth());
}
Console.WriteLine();
Console.WriteLine("Time In milliseconds: {0}", elapsedTime);